Stress monitoring method and system for airfoil-shaped sail of ship

Abstract

The invention provides a stress monitoring method and system for a ship airfoil sail. The method comprises the following steps: S1, constructing a wind load database based on meteorological data and airfoil sail sensor data; s2, airfoil sail parameter information is obtained based on the airfoil sail control mathematical model; s3, on the basis of the parameter information of the airfoil sail, using Solidworks modeling software to create an airfoil sail 3D model, rendering the airfoil sail 3D model in Unity 3D software in real time, and creating a client control interface; and S4, airfoil sail mechanical simulation is carried out in combination with CFD dynamic grid and overlapping grid technologies, Python and Unity 3D are adopted to communicate through a TCP protocol, wind load data and a stress calculation result are obtained, interaction with a real wind load and digital-analog calculation database is carried out, and airfoil sail surface stress changes are monitored in real time. According to the invention, the posture of the sail can be controlled in real time, a simulation result is fed back through the user interface, and accurate visualization of sail movement and stress distribution is ensured.

Description

Technical Field

[0001] The present invention relates to the field of ship electronic technology, and more particularly, to a method and system for stress monitoring of a ship airfoil sail. Background Art

[0002] Real-time monitoring of the surface stress of a ship airfoil sail is crucial for optimizing ship performance. However, traditional experimental methods are not only costly but also time-consuming, making it difficult to conduct large-scale parameter studies. Although numerical simulation technology can provide a more flexible research means, it usually lacks intuitive visualization effects, making it difficult to accurately convey simulation results. Especially when the force change of the ship airfoil sail is relatively complex, existing simulation systems have problems such as high computational resource requirements, low efficiency, and poor interactivity when dynamically displaying the stress of the ship airfoil sail, which limits their application effects.

[0003] With the development of computer graphics and virtual reality technologies, the simulation and visualization technology of ship airfoil sails based on Unity3D software has become a potential solution. Unity provides a powerful rendering and physics engine, which can more realistically simulate the dynamic response of airfoil sails. However, there are still technical challenges such as high computational pressure and low simulation efficiency in realizing complex hydrodynamics simulation and real-time data visualization. Therefore, how to optimize computational performance and achieve efficient and intuitive stress display while ensuring simulation accuracy has become an urgent problem to be solved in the current digital monitoring and visualization technology of airfoil sails. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to propose a method and system for stress monitoring of a ship airfoil sail to solve the problem of low simulation efficiency of the existing ship airfoil sail stress simulation technology based on Unity3D.

[0005] The technical means adopted by the present invention are as follows:

[0006] A method for stress monitoring of a ship airfoil sail, comprising the following steps:

[0007] S1. Construct a wind load database based on meteorological data and airfoil sail sensor data, where the wind load database includes wind speed and wind direction information; subscribe to the wind load database through a ROS node and send the data information in the wind load database to Unity 3D;

[0008] S2. Based on the data information in the wind load database, Unity 3D calculates the environmental interference force using a mechanical mathematics calculation system to obtain an airfoil sail manipulation mathematical model, and obtains airfoil sail parameter information based on the airfoil sail manipulation mathematical model;

[0009] S3. Create a 3D model of the airfoil sail using Solidworks modeling software based on the airfoil sail parameter information, and render the 3D model of the airfoil sail in real time in the Unity3D software to create a client control interface;

[0010] S4. Conduct a mechanical simulation of the airfoil sail by combining CFD dynamic mesh and overlapping grid technologies to obtain a mechanical simulation database of the airfoil sail;

[0011] S5. Communicate the wind load database and the mechanical simulation database of the airfoil sail through TCP protocol using Python and Unity 3D to obtain wind load data and stress calculation results; Interact the wind load information in the wind load database with the simulation calculation results in the mechanical simulation database of the airfoil sail, and send the simulation calculation results to the client control interface to monitor the surface stress change of the airfoil sail in real time.

[0012] Further, in S1:

[0013] The airfoil sail sensors are arranged at the center position and the edge position of the airfoil sail, and the airfoil sail sensors monitor the attitude data of the airfoil sail in real time.

[0014] Further, in S2, the formula of the mechanical simulation mathematical calculation system is as follows:

[0015] F T = F L sinA - F D cosA

[0016] F H = F L cosA + F D sinA

[0017] C T = C L sinA - C D cosA

[0018] C H = C L cosA + C D sinA

[0019]

[0020] Among them, V a represents the air flow velocity direction, F D represents the resistance received by the airfoil sail, F L represents the direction perpendicular to the air flow, F T represents the resultant force received by the airfoil sail, A represents the included angle between the airfoil sail and the wind and the windward angle, C T represents the thrust coefficient, CH represents the lift coefficient, C L is the lift coefficient, ρ is the air density, and S is the force-bearing area of the airfoil sail;

[0021] The airfoil sail parameter information includes the airfoil sail height, the airfoil sail rotation angle, and the wind load angle of attack.

[0022] Further, S3 specifically includes the following steps:

[0023] Build a 3D model of the airfoil sail through Solidworks, and import the airfoil sail parameter information into Unity3D for real-time rendering to establish a multi-body dynamic simulation model;

[0024] Write the airfoil sail lifting control script and the airfoil sail rotation control script, and control the movement of the airfoil sail in the simulation environment through the airfoil sail lifting control script and the propeller rotation control script. At the same time, the airfoil sail lifting control script and the rotation control script send control signals to the multi-body dynamic simulation mathematical model through ROS;

[0025] Create a client control interface to control the movement of the sail.

[0026] Further, S4 and S5 specifically include the following steps:

[0027] : Use spaceclaim to construct the fluid domain for airfoil sail simulation, and import it into ANSYS fluent to establish the overlapping grid of the moving mesh and the fluid domain of the airfoil sail; write udf code to define the rotation attitude of the airfoil sail in the fluid domain, and simulate the stress distribution data of the airfoil sail at multiple angles and sea conditions;

[0028] Use the BFR radial basis neural network to construct a surrogate model, and through training, map the input wind load signal to the output of the surface stress distribution information of the airfoil sail;

[0029] Build a TCP server in Python. Unity3D listens for connection requests from the Unity client through the ports and IP addresses specified by the TCP server, accepts data requests from the Unity client, and establishes a two-way connection through the TCP protocol;

[0030] After receiving the data request data from the Unity client, perform real-time calculation and rendering on the data according to the preset surrogate model, and send the calculation results back to the Unity client through the TCP protocol;

[0031] The stress monitoring visualization system visually displays the actions, postures, and surface stress distributions of the airfoil sail after executing the operation signals in real time.

[0032] The present invention also provides a stress monitoring system for a ship airfoil sail, which is implemented based on any one of the above stress monitoring methods for a ship airfoil sail, and includes:

[0033] A data processing system, configured to obtain sea condition data and airfoil sail sensor data, integrate the data, establish a database, and send the data to Unity3D through a ROS node;

[0034] A mechanics and mathematics calculation system, configured to receive database data through a ROS node, calculate the resultant force and thrust received by the airfoil sail through the database, obtain airfoil sail parameter information by using an airfoil sail manipulation mathematical model, and combine with the airfoil sail 3D model generated by real-time rendering in Unity 3D to obtain a multi-body dynamic simulation mathematical model;

[0035] An airfoil sail stress monitoring and visualization system, configured to perform real-time rendering on the obtained airfoil sail multi-body dynamic simulation model in Unity, and control the airfoil sail attitude through a control script on a client control interface; meanwhile, based on a Python proxy model and a TCP server, realize the visualization of the airfoil sail surface stress distribution and real-time monitoring.

[0036] Further, the airfoil sail visualization system includes:

[0037] An airfoil sail lifting control module, configured to obtain an airfoil sail lifting control instruction and present the airfoil sail motion attitude in real time;

[0038] An airfoil sail rotation control module, configured to obtain a rotation angle control instruction and display the rotation angle change in real time;

[0039] A stress monitoring module, configured to obtain airfoil sail stress distribution data, calculate the environmental resistance received by the airfoil sail according to the mechanics calculation model system, display the airfoil sail lifting, airfoil sail rotation angle, and stress distribution in real time through a data visualization interface, and feedback to the data processing platform through ROS;

[0040] An operation execution module, configured to input airfoil sail attitude information and wind load information on a UI interface, send them to the data processing system through ROS to control the airfoil sail motion, and perform real-time rendering on the airfoil sail attitude and stress distribution in the airfoil sail surface stress monitoring and visualization interaction system to realize an airfoil sail motion simulation experiment.

[0041] The present invention also provides a storage medium, where the storage medium includes a stored program, and when the program runs, it executes any one of the above stress monitoring methods for a ship airfoil sail.

[0042] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. The processor runs through the computer program to execute any one of the above-mentioned stress monitoring methods for ship airfoil sails.

[0043] Compared with the prior art, the present invention has the following advantages:

[0044] The present invention integrates meteorological data and sail sensor data to construct a wind load database (including wind speed, wind direction, etc.), and sends the data to Unity 3D through ROS nodes for real-time simulation; based on the sail sensor signal and the mechanical calculation model, calculates the environmental interference force received by the sail and establishes a sail control mathematical model; builds a 3D model of the airfoil sail through SolidWorks and imports it into Unity 3D for multi-body dynamic simulation and real-time rendering; uses CFD dynamic mesh and overlapping mesh technologies for mechanical simulation, generates a simulation database under different sea conditions, and communicates with the Python proxy model through the TCP protocol to monitor the stress change on the sail surface and achieve visualization. The system includes data processing, mechanical calculation, sail visualization, and stress monitoring modules, which can control the sail attitude in real time and feedback the simulation results through the user interface to ensure the accurate visualization of the sail movement and stress distribution.

[0045] The present invention divides the communication control and stress monitoring visualization interaction system for ship airfoil sails based on Unity 3D software into a data processing system, a mechanical simulation model system, a stress monitoring and visualization system, and a functional application module, realizing the real-time data interaction and multi-body dynamic simulation between the airfoil sail and the external environment.

[0046] The communication control and stress monitoring visualization interaction system and method for ship airfoil sails provided by the present invention, combined with the wind load environmental factors, constructs a multi-body dynamic simulation mathematical model of the airfoil sail, realizing the real-time dynamic display of the motion state of the airfoil sail under different sea conditions. The system can present the interaction between the airfoil sail and the environmental wind load in real time, significantly improving the accuracy and intuitiveness of the airfoil sail motion simulation and stress monitoring, and making up for the deficiencies of traditional static simulation methods.

[0047] The communication control and stress monitoring visualization interaction system and method for ship airfoil sails provided by the present invention can not only realize the real-time visualization of the motion state of the airfoil sail, but also be used for the visualization display of relevant algorithms and control strategies in the field of ship deck machinery. The application scope of the system is not limited to deck machinery, but can also be widely applied to other devices involving motion simulation and communication interaction, with strong versatility and scalability. Description of the Drawings

[0048] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0049] Figure 1 This is the flowchart of the method of the present invention.

[0050] Figure 2 This is the operation flowchart of the surface stress monitoring of the airfoil sail of the present invention.

[0051] Figure 3 This is the schematic diagram of the positions of the wind speed sensor and the attitude sensor of the present invention on the sail.

[0052] In the figure: 1. Wind speed sensor; 2. Attitude sensor. Specific embodiments

[0053] In order to enable those skilled in the art of the present technology to better understand the solution of the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0054] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily need to describe a specific order or sequence. It should be understood that such used data can be interchanged under appropriate circumstances so that the embodiments of the present invention described here can be implemented in an order other than those illustrated or described here. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not necessarily have to be limited to those clearly listed steps or units, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0055] As Figure 1 shown, the present invention provides a method for monitoring the stress of a ship airfoil sail, including the following steps:

[0056] S1. Integrate meteorological data and airfoil sail sensor data to construct a wind load database, including wind speed and wind direction information. Subscribe to the database through ROS nodes, and send the data to Unity 3D to provide input for real-time simulation. S1 specifically includes:

[0057] Obtain airfoil sail parameter information data through airfoil sail sensors. The airfoil sail sensors are arranged at the center and edge positions of the airfoil sail to monitor the attitude data of the airfoil sail in real time and capture the performance of the airfoil sail under different sea conditions;

[0058] Obtain meteorological forecast center data in real time, combine with the wind load database to obtain wind load characteristics, and establish a wind load database;

[0059] Receive the data obtained in Step 1 and Step 2 through ROS and send the data to Unity.

[0060] S2. Unity 3D receives wind load database information through ROS nodes, and uses a mechanical mathematics calculation system through the database to calculate the environmental interference force and obtain the airfoil sail manipulation mathematical model. S2 specifically includes:

[0061] Based on the wind load database, combine with the mechanical mathematics calculation system to calculate the environmental interference force. The mechanical simulation mathematics calculation system is as follows;

[0062] F T =F L sinA - F D cosA

[0063] F H =F L cosA + F D sinA

[0064] C T =C L sinA - C D cosA

[0065] C H =C L cosA + C D sinA

[0066]

[0067] Among them, V a represents the air flow velocity direction, F D represents the resistance received by the airfoil sail, in the same direction as the air flow, F L represents the direction perpendicular to the air flow, F T represents the resultant force received by the airfoil sail, A represents the angle between the airfoil sail and the wind and the angle of attack. C TDenotes the thrust coefficient, C H Denotes the lift coefficient, C L is the lift coefficient, ρ is the air density, and S is the force - receiving area of the airfoil sail, all obtained from the maneuverability experiment;

[0068] Adopt the mathematical model of airfoil sail operation to obtain the parameter information of the airfoil sail, including the height of the airfoil sail, the rotation angle of the airfoil sail, the angle of attack of the wind load, etc., providing real - time data support for the multi - body dynamic simulation model;

[0069] S3. Create a 3D model of the airfoil sail based on the Solidworks modeling software, and perform real - time rendering in the Unity 3D software, create a client control interface and achieve precise control and feedback; S3 specifically includes:

[0070] Establish a three - dimensional model of the airfoil sail through Solidworks, and import the model data into Unity 3D for real - time rendering to establish a multi - body dynamic simulation model;

[0071] Import the drawn 3D model of the ship into the Unity software;

[0072] Establish a three - dimensional model of the airfoil sail through Unity, including the base, the main shaft, the first sail of the airfoil sail, the second sail, and the third sail, and map the real - time dynamic data of the sail to the three - dimensional model to display the dynamic changes of the three - dimensional model;

[0073] Write the lifting control script and the rotation control script for the airfoil sail;

[0074] Map the written lifting control script and rotation control script of the airfoil sail to the changing components of the 3D model of the airfoil sail respectively;

[0075] The lifting control script of the airfoil sail controls the raising and lowering of the airfoil sail; the rotation control script controls the rotation angle of the airfoil sail;

[0076] Send the control signals of the lifting control script of the airfoil sail and the rotation angle control script of the airfoil sail to the multi - body dynamic mechanics model through ROS.

[0077] Create a client control interface to control the movement of the sail.

[0078] S4. Combine the CFD dynamic mesh and overlapping mesh technologies to conduct mechanical simulation of the airfoil sail, and obtain the mechanical simulation database of the airfoil sail;

[0079] S5. Communicate the wind load database and the airfoil sail simulation mechanics database through TCP protocol using Python and Unity 3D to obtain wind load data and stress calculation results; interact the wind load information in the wind load database with the simulation calculation results in the airfoil sail simulation mechanics database, and send the simulation calculation results to the client control interface to monitor the stress change on the surface of the airfoil sail in real time. Specifically, it includes:

[0080] Import the 3D model of the airfoil sail drawn in step 3 into the spaceclaim software to create an overlapping grid calculation domain;

[0081] Use the spaceclaim software to draw the wind field calculation domain;

[0082] Import the wind field calculation domain into the fluent-mesh software to draw the wind field calculation domain grid file;

[0083] Import the overlapping grid calculation domain of the airfoil sail into the fluent-mesh software to draw the overlapping grid calculation domain grid file of the airfoil sail;

[0084] Import the wind field calculation domain into the fluent-solution software and attach the overlapping grid calculation domain of the airfoil sail; compile the UDF program for the gradual change of wind field wind speed, and simulate the working conditions of the wind field at multiple angles and in multiple sea conditions;

[0085] Compile the UDF program for the rotation of the airfoil sail, and simulate the working condition of the airfoil sail rotating one week; set the simulation calculation conditions according to the actual working conditions to calculate the wind load mechanics database;

[0086] Use Python to build an RBF radial basis neural network, input the wind load signal, and output the corresponding stress distribution;

[0087] Set up a TCP server in Python, and correspondingly build a TCP client in Unity; compile and call the proxy model and the code for the input and output of the model in the Python server;

[0088] Build the stress system architecture layer of the airfoil sail; call the mechanical simulation calculation system, change the UI window of the Game interface, and input or customize the wind load information of the airfoil sail model;

[0089] Through the Star function and the monitoring of the input of the mechanical simulation calculation model, the stress color of the airfoil sail changes correspondingly to complete the stress monitoring of the surface of the airfoil sail.

[0090] The present invention also provides a stress monitoring system for a ship airfoil sail, including a data processing system, a mechanical mathematics calculation system, and an airfoil sail stress monitoring and visualization system, where:

[0091] The data processing system is used to obtain sea condition data and ship sensor data, integrate the data, establish a database, and send the data to Unity through ROS nodes; in this embodiment, the system serves as the data processing layer, which identifies and processes the data obtained by the sensors, constructs a database, and uses ROS for data transceiver.

[0092] The mechanical and mathematical calculation system is used to receive data through ROS nodes by Unity, calculate environmental interference forces through the database, obtain ship parameter information using the airfoil sail control mathematical model, and combine the environmental interference forces to obtain a multi-body dynamic simulation mathematical model; in this embodiment, the system serves as the mechanical simulation calculation layer, which is used to establish an airfoil sail multi-body dynamic simulation model and construct an airfoil sail multi-body dynamic simulation mathematical model based on the environmental interference forces and the mechanical simulation calculation mathematical model.

[0093] The airfoil sail stress monitoring and visualization system is used to render the obtained airfoil sail multi-body dynamic simulation model in real time in Unity and control the attitude of the airfoil sail through a control script on the client control interface; at the same time, based on the Python proxy model and the TCP server, it realizes the visualization and real-time monitoring of the surface stress distribution of the airfoil sail.

[0094] The airfoil sail visualization system includes an airfoil sail lifting control module, an airfoil sail rotation control module, and a stress monitoring module, where:

[0095] The airfoil sail lifting control module is used to obtain the airfoil sail lifting control instruction and present the motion attitude of the airfoil sail in real time;

[0096] The airfoil sail rotation control module is used to obtain the rotation angle control instruction and display the change of the rotation angle in real time;

[0097] The stress monitoring module is used to obtain the airfoil sail stress distribution data, calculate the environmental resistance received by the airfoil sail according to the mechanical calculation model system, and display the airfoil sail lifting, airfoil sail rotation angle, and stress distribution in real time through the data visualization interface, and feedback to the data processing platform through ROS.

[0098] In this embodiment, the data processing system discriminates, sorts, and optimizes the data collected by the sensors, integrates the wind load data, and publishes the data to the Unity platform through ROS; the mechanical simulation calculation mathematical model system obtains the ship-related parameters from the information published by ROS, including the lifting attitude of the airfoil sail, the angle of rotation, etc. Combining the airfoil sail motion mathematical model and the environmental resistance calculated from the wind load data, an airfoil sail multi-body dynamic simulation model is obtained. The stress monitoring and visualization system refers to visualizing and rendering the multi-body dynamic simulation model, including the real-time distribution of the attitude, angle of rotation, and stress of the airfoil sail; this system also has the functions of displaying device parameters and controlling the ship's movement, including the lifting information of the airfoil sail, the angle of rotation information of the airfoil sail, and the surface stress distribution information. The control functions include the lifting control of the airfoil sail and the angle of rotation control of the airfoil sail.

[0099] During specific implementation, as a preferred implementation manner of the present invention, as Figure 2 shown, during the simulation of the airfoil sail, the airfoil sail stress simulation module uses the spaceclaim software to draw the wind field calculation domain and the airfoil sail overlapping grid calculation domain and imports them into the fluent simulation software, compiles the wind field wind speed gradient UDF program and the airfoil sail rotation UDF program, and simulates and sets the working conditions of the wind field at multiple angles and multiple sea conditions and the working condition of the airfoil sail rotating one week; sets the simulation calculation conditions to calculate and obtain the wind load mechanics database;

[0100] The neural network learning module uses Python to construct an RBF radial basis neural network, inputs the wind load signal and outputs the corresponding stress distribution; by building a TCP server and a client, compiles and calls the proxy model and its input and output code in the Python server; constructs the airfoil sail stress system architecture layer and calls the mechanical simulation calculation system; by changing the UI window of the Game interface, inputs or customizes the wind load information of the airfoil sail model; realizes the color change of the surface stress of the airfoil sail by the Star function and monitoring the input of the mechanical simulation model, so as to complete the real-time monitoring of the airfoil sail stress.

[0101] The operation execution module is used to input the airfoil sail attitude information and wind load information on the UI interface, send them to the data processing system through ROS, and then control the movement of the airfoil sail. The airfoil sail attitude and stress distribution are rendered in real time in the airfoil sail surface stress monitoring and visualization interaction system to realize the airfoil sail motion simulation experiment.

[0102] The airfoil sail sensors include a wind speed sensor 1 and an attitude sensor 2. The positions of the sensors on the sail are as Figure 3 shown.

[0103] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A stress monitoring method for a ship airfoil sail, characterized in that, It includes the following steps: S1. Build a wind load database based on meteorological data and airfoil sail sensor data. The wind load database includes wind speed and wind direction information. Subscribe to the wind load database through a ROS node and send the data information in the wind load database to Unity 3D; S2. Based on the data information in the wind load database, Unity 3D uses a mechanical mathematics calculation system to calculate the environmental interference force, obtains an airfoil sail manipulation mathematical model, and acquires airfoil sail parameter information based on the airfoil sail manipulation mathematical model; S3. Create an airfoil sail 3D model using Solidworks modeling software based on the airfoil sail parameter information, and perform real-time rendering of the airfoil sail 3D model in the Unity3D software to create a client control interface; S4. Combine CFD dynamic mesh and overlapping mesh technologies to conduct airfoil sail mechanical simulation to obtain an airfoil sail simulation mechanical database; S5. Communicate the wind load database and the airfoil sail simulation mechanical database through Python and Unity 3D via the TCP protocol to obtain wind load data and stress calculation results; Interact the wind load information in the wind load database with the simulation calculation results in the airfoil sail simulation mechanical database, and send the simulation calculation results to the client control interface to monitor the surface stress change of the airfoil sail in real time.

2. The stress monitoring method for a ship airfoil sail according to claim 1, characterized in that, In S1: The airfoil sail sensors are arranged at the central position and the edge position of the airfoil sail, and the airfoil sail sensors monitor the attitude data of the airfoil sail in real time.

3. The stress monitoring method of the ship airfoil sail according to claim 1, characterized in that In S2, the formula of the mechanical simulation mathematical calculation system is as follows: F T = F L sinA - F D cosA F H = F L cos A + F D sin A C T = C L sinA - C D cosA C H = C L cos A + C D sin A Among them, V a represents the direction of the air flow velocity, F D represents the resistance received by the airfoil sail, F L represents perpendicular to the air flow direction, F T represents the resultant force received by the airfoil sail, A represents the angle between the airfoil sail and the wind and the angle of attack, C T represents the thrust coefficient, C H represents the lift coefficient, C L is the lift coefficient, ρ is the air density, and S is the force-receiving area of the airfoil sail; The airfoil sail parameter information includes airfoil sail height, airfoil sail rotation angle, and wind load angle of attack.

4. The stress monitoring method for the ship airfoil sail according to claim 1, characterized in that S3 specifically includes the following steps: Establish a three-dimensional model of the airfoil sail through Solidworks, import the airfoil sail parameter information into Unity 3D for real-time rendering, and establish a multi-body dynamic simulation model; Write an airfoil sail lifting control script and an airfoil sail rotation control script. Control the movement of the airfoil sail in the simulation environment through the airfoil sail lifting control script and the propeller rotation control script. At the same time, the airfoil sail lifting control script and the rotation control script send control signals to the multi-body dynamic simulation mathematical model through ROS; Create a client control interface to control the movement of the sail.

5. The stress monitoring method for the ship airfoil sail according to claim 1, characterized in that, S4 and S5 specifically include the following steps: Use spaceclaim to construct the fluid domain of the airfoil sail simulation, and import it into ANSYS fluent to establish the overlapping mesh of the dynamic mesh and the fluid domain of the airfoil sail; Write udf code to define the rotation attitude of the airfoil sail in the fluid domain, and simulate to obtain the stress distribution data of the airfoil sail at multiple angles and in multiple sea conditions; Build a surrogate model using the BFR radial basis neural network. Through training, map the input wind load signal to the output of the surface stress distribution information of the airfoil sail; Build a TCP server in Python. Unity3D listens for connection requests from the Unity client through the port and IP address specified by the TCP server, accepts data requests from the Unity client, and establishes a two-way connection through the TCP protocol; After receiving the data request from the Unity client, the data is calculated and rendered in real time according to the preset proxy model, and the calculation result is sent back to the Unity client through the TCP protocol; The stress monitoring visualization system can visually display the actions, postures, and surface stress distributions of the airfoil sail after executing the operation signal in real time.

6. A stress monitoring system for a ship's airfoil sail, which is implemented based on the stress monitoring method for the ship's airfoil sail described in any one of claims 1-5, and is characterized in that, It includes: A data processing system, which is used to obtain sea condition data and airfoil sail sensor data, integrate the data, establish a database, and send the data to Unity3D through ROS nodes; A mechanical and mathematical calculation system, which is used to receive database data through ROS nodes, calculate the resultant force and thrust on the airfoil sail through the database, obtain the airfoil sail parameter information using the airfoil sail manipulation mathematical model, and combine it with the 3D model of the airfoil sail generated by real-time rendering in Unity 3D to obtain a multi-body dynamic simulation mathematical model; An airfoil sail stress monitoring and visualization system, which is used to render the obtained multi-body dynamic simulation model of the airfoil sail in Unity in real time, and control the airfoil sail posture through a control script on the client control interface; At the same time, based on the Python proxy model and the TCP server, the visualization of the surface stress distribution of the airfoil sail and real-time monitoring are realized.

7. The stress monitoring system for a ship's airfoil sail according to claim 6, characterized in that, The airfoil sail visualization system includes: An airfoil sail lifting control module, which is used to obtain the airfoil sail lifting control instruction and visually display the motion posture of the airfoil sail in real time; An airfoil sail rotation control module, which is used to obtain the rotation angle control instruction and display the change of the rotation angle in real time; A stress monitoring module, which is used to obtain the airfoil sail stress distribution data, calculate the environmental resistance on the airfoil sail according to the mechanical calculation model system, and visually display the airfoil sail lifting, airfoil sail rotation angle, and stress distribution in real time through a data visualization interface, and feedback it to the data processing platform through ROS; An operation execution module, which is used to input the airfoil sail posture information and wind load information on the UI interface, send it to the data processing system through ROS to control the airfoil sail movement, and visually render the airfoil sail posture and stress distribution in the airfoil sail surface stress monitoring and visualization interaction system to realize the airfoil sail motion simulation experiment.

8. A storage medium, characterized in that, The storage medium includes a stored program, wherein when the program runs, it executes the stress monitoring method of the ship airfoil sail according to any one of claims 1 to 5.

9. An electronic device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor executes the stress monitoring method of the ship airfoil sail according to any one of claims 1 to 5 through the running of the computer program.

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