A kind of full rotation electric tugboat drive power adaptive regulation system and method

Abstract

The application provides a kind of full slewing electric tugboat driving power adaptive regulation system and method, it is related to full slewing electric tugboat technical field.Data acquisition module real-time acquisition environment data, tugboat state data and the state data of being towed object;Resistance model construction module obtains the total resistance that being towed object receives;Towing demand calculation module calculates towing demand;Power model construction module constructs the power model of tugboat, and carries out power correction in combination with environment data, obtains tow data;Instruction generation module generates regulation instruction using PID control algorithm;Adaptive regulation module carries out real-time adjustment.The application can improve the efficiency of tugboat operation, greatly reduce the completion time of towing task, improve the port operation turnover rate and reduce operating costs through the cooperative work of each module.Meanwhile, adaptive regulation avoids the waste of power, conforms to the development trend of energy saving and emission reduction, and helps to promote the green and sustainable development of shipping industry.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of full-rotation electric tugboat, and particularly relates to a full-rotation electric tugboat driving power adaptive adjustment system and a full-rotation electric tugboat driving power adaptive adjustment method. BACKGROUND

[0002] With the rapid development of the shipping industry, full-rotation electric tugboats play an increasingly important role in port operations, ship towing and other fields. Full-rotation electric tugboats have the characteristics of flexible operation and powerful power, and can efficiently complete towing tasks in complex water environment. However, in the actual operation process, the working conditions of the tugboat are extremely complex and changeable. On the one hand, environmental factors such as water flow speed, wind direction and speed, and waves change constantly, which can significantly increase the movement resistance of the towed object; on the other hand, the type, size, weight of the towed object and the change of its attitude during towing can also cause great differences in the resistance it receives.

[0003] The traditional driving power adjustment mode of the tugboat is often based on experience setting, and lacks accurate perception and dynamic response to real-time environment and towed object state. When the environmental conditions or the state of the towed object changes, the traditional adjustment mode is difficult to quickly and accurately adjust the driving power of the tugboat, which may lead to low towing efficiency and even cause towing accidents. In addition, the traditional adjustment mode also has the problem of high energy consumption, and cannot realize the optimal configuration of the driving power. SUMMARY

[0004] The present application provides a full-rotation electric tugboat driving power adaptive adjustment system and method to solve the defects in the prior art.

[0005] In one aspect, the present application provides a full-rotation electric tugboat driving power adaptive adjustment system, comprising:

[0006] A data acquisition module is configured to acquire environmental data, tugboat state data and towed object state data in real time.

[0007] A resistance model construction module is configured to construct a resistance model based on fluid mechanics according to the environmental data and the towed object state data, and obtain the total resistance received by the towed object.

[0008] A towing demand calculation module is configured to calculate the towing demand of the towed object according to the resistance model, wherein the towing demand includes a towing demand force and a towing demand direction.

[0009] A power model construction module is configured to construct a power model of the tugboat according to the tugboat state data, and combine the environmental data to correct the power, thereby obtaining towing data, wherein the towing data includes an actual driving power of the tugboat and an actual driving power direction of the tugboat.

[0010] The instruction generation module is configured to calculate a target towing force and a target towing direction of the tugboat according to the towing demand and the towing data, and generate an adjustment instruction by using a PID control algorithm, the adjustment instruction including an angle adjustment amount of the rudder propeller and a rotating speed adjustment amount of the propeller.

[0011] The adaptive adjustment module is configured to adjust the state of the rudder propeller of the tugboat in real time according to the adjustment instruction.

[0012] According to the full-rotation electric tugboat driving power adaptive adjustment system, the environmental data includes water density, water flow speed, water flow direction, wind power and wind direction. The state data of the tugboat includes the motion state of the tugboat, power system data and equipment state data. The motion state of the tugboat includes the speed and direction of the tugboat. The power system data includes the rotating speed of the propeller and the power of the motor. The equipment state data includes the angle of the rudder propeller and the geometric parameters of the propeller blade. The state data of the towed object includes the motion state data and the self characteristic data of the towed object. The motion state data of the towed object includes the speed and direction of the towed object. The self characteristic data includes the mass, volume and shape of the towed object.

[0013] According to the full-rotation electric tugboat driving power adaptive adjustment system, the process of obtaining the total resistance of the towed object includes:

[0014] According to the speed, water flow speed and direction of the towed object, the water resistance relative speed of the towed object and the water flow is calculated by vector composition.

[0015] According to the water density and the self characteristic data, the surface area of the towed object in contact with water is calculated, and the friction resistance of the towed object is calculated in combination with the water resistance relative speed.

[0016] The projection area of the towed object perpendicular to the motion direction is obtained, and the pressure difference resistance of the towed object is calculated in combination with the water density and the water resistance relative speed.

[0017] The friction resistance and the pressure difference resistance are added to obtain the water resistance of the towed object.

[0018] According to the speed, wind power and wind direction of the towed object, the wind resistance relative speed of the towed object and the air is calculated by vector composition.

[0019] According to the wind direction and the self characteristic data, the projection area of the towed object perpendicular to the wind direction is calculated, and the wind resistance of the towed object is calculated in combination with the wind resistance relative speed.

[0020] The water resistance and the wind resistance are added to obtain the total resistance of the towed object.

[0021] According to the full-rotation electric tugboat driving power adaptive adjustment system, the process of calculating the towing demand includes:

[0022] According to the operation task of the tugboat, the target speed and target heading of the towed object are obtained.

[0023] According to the current speed, target speed, current heading and target heading of the towed object, the acceleration requirement of the towed object in the x and y directions is calculated through kinematic formula.

[0024] According to Newton's second law, combined with the mass and acceleration requirement of the towed object, the required resultant force of the towed object in the x and y directions is calculated.

[0025] Combined with the resistance model of the towed object, the total resistance of the towed object is decomposed in the x and y directions according to the current motion direction of the towed object, and the resistance required to be overcome by the towed object in the x and y directions is obtained, and the required resultant force is added to the resistance required to be overcome, to obtain the required towing force in the x and y directions.

[0026] According to the required towing force of the towed object in the x and y directions, the size and direction of the required towing force of the towed object according to the target speed and target heading are calculated through the Pythagorean theorem and trigonometric function.

[0027] According to the full-rotating electric tugboat driving power adaptive adjustment system provided by the application, the process of constructing the power model of the tugboat according to the state data of the tugboat comprises:

[0028] Obtain the geometric parameters of the propeller blade, including the radius and width of the blade.

[0029] Divide the propeller blade into N blade elements along the radius direction, and the radius range of each blade element is , i=1, 2, …, N.

[0030] For the i-th blade element, according to its radius position, the linear velocity of the blade element is calculated, and the lift and drag of the blade element are calculated through the lift and drag coefficient curve of the airfoil combined with the inflow angle of the blade element.

[0031] Integrate the lift and drag of all blade elements along the radius direction to obtain the thrust of the entire propeller.

[0032] According to the full-rotating electric tugboat driving power adaptive adjustment system provided by the application, the process of power correction combined with environmental data comprises:

[0033] According to the relative speed of the tugboat and the water flow, the hydrodynamic coefficient and the projection area of the tugboat, the water flow force of the tugboat is calculated.

[0034] According to the relative speed of the tugboat and the air, the wind resistance coefficient and the projection area of the tugboat, the wind force of the tugboat is calculated.

[0035] Combined with the influence of water flow force and wind force, the actual power provided by the tugboat is the propeller thrust minus the component of the wind resistance and water flow resistance in the thrust direction.

[0036] According to the principle of force synthesis, the direction of the actual power of the tugboat is corrected by calculating the direction of the resultant force of the wind resistance and the water flow resistance.

[0037] According to the present application, a full-rotation electric tugboat driving power adaptive adjustment system is provided, and the process of calculating the target towing force and the target towing direction of the tugboat according to the towing requirement and the towing data includes:

[0038] The actual power of the tugboat is decomposed into components in the x and y directions.

[0039] The difference between the components of the actual power of the tugboat is calculated by combining the required towing force of the towed object in the x and y directions, and the power component required by the tugboat is obtained.

[0040] The power component required by the tugboat is synthesized to obtain the target towing force and the target towing direction of the tugboat.

[0041] According to the present application, a full-rotation electric tugboat driving power adaptive adjustment system is provided, and the process of generating an adjustment instruction by using a PID control algorithm includes:

[0042] The towing force and the towing direction required by the tugboat are taken as control targets.

[0043] The rudder angle and the propeller speed are selected as control variables.

[0044] The error between the actual power of the tugboat and the target towing force, and the error between the actual power direction of the tugboat and the target towing direction are calculated respectively.

[0045] A control instruction for adjusting the rudder angle is generated by using a PID control algorithm, and the formula is:

[0046]

[0047] A control instruction for adjusting the propeller speed is generated, and the formula is:

[0048]

[0049] In the formula, and denote the proportional coefficient, and denote the integral coefficient, and denote the differential coefficient, denote the error between the actual power of the tugboat and the target towing force, represents the error between the actual power direction of the tugboat and the target towing direction, represents the adjustment amount of the rudder angle, represents the adjustment amount of the propeller speed.

[0050] According to the full-rotation electric tugboat driving power adaptive adjustment system provided by the application, the real-time adjustment process comprises:

[0051] Through the rudder controller, the rudder is driven to rotate according to the rudder angle adjustment instruction, so that the rotation angle of the rudder is adjusted from the current angle to .

[0052] Through the motor controller, the motor power is adjusted according to the propeller speed adjustment instruction, so that the rotation speed of the propeller is adjusted from the current rotation speed n to .

[0053] On the other hand, the application also provides a full-rotation electric tugboat driving power adaptive adjustment method, which comprises:

[0054] Real-time collection of environmental data, tugboat state data and towed object state data.

[0055] According to the environmental data and the towed object state data, a resistance model based on fluid mechanics is constructed to obtain the total resistance received by the towed object.

[0056] According to the resistance model, the towing demand of the towed object is calculated, which includes the towing demand force and the towing demand direction.

[0057] According to the tugboat state data, a power model of the tugboat is constructed, and the power is corrected combined with the environmental data to obtain the towing data, which includes the actual power of the tugboat and the actual power direction of the tugboat.

[0058] According to the towing demand and the towing data, the target towing force and the target towing direction of the tugboat are calculated, and a PID control algorithm is used to generate an adjustment instruction, which includes the rudder angle adjustment amount and the propeller speed adjustment amount.

[0059] According to the adjustment instruction, the rudder and propeller state of the tugboat is adjusted in real time.

[0060] The full-rotation electric tugboat driving power adaptive adjustment system and method provided by the application can accurately calculate the total resistance received by the towed object based on the principle of fluid mechanics and accurately construct the power model of the tugboat by real-time collection of environmental data, tugboat state data and towed object state data, combined with the resistance model construction module and the power model construction module. Compared with the traditional empirical adjustment, the power adjustment accuracy can be improved, the tugboat power output can be highly matched with the actual operation demand, and the situation of insufficient power or excessive output can be avoided.

[0061] In terms of safety, the system can quickly respond to changes in the environment and the state of the towed object. When encountering sudden severe weather or abnormal posture of the towed object, the command generation module uses the PID control algorithm to quickly generate adjustment commands, and the adaptive adjustment module adjusts the rudder state in real time, so that the tugboat can adjust the power and direction in time. Reduce the risk of accidents such as towline breakage and loss of control of the towed object caused by power mismatch during towing, and ensure the safe operation of port operations and ship towing.

[0062] In terms of operation efficiency, precise power adjustment enables the tugboat to perform towing operations with optimal power and direction. In complex water environments, it can improve the operation efficiency of the tugboat, significantly reduce the completion time of the towing task, improve the port operation turnover rate, and reduce operating costs. At the same time, adaptive adjustment avoids waste of power, conforms to the development trend of energy saving and emission reduction, and helps to promote the green and sustainable development of the shipping industry. BRIEF DESCRIPTION OF DRAWINGS

[0063] In order to more clearly illustrate the technical solutions in the present application or prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0064] Figure 1 is a structural schematic diagram of a full-rotation electric tugboat driving power adaptive adjustment system provided by an embodiment of the present application;

[0065] Figure 2 is a flowchart of a full-rotation electric tugboat driving power adaptive adjustment method provided by an embodiment of the present application. DETAILED DESCRIPTION

[0066] In order to make the purpose, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be described clearly and completely in the following combined with the drawings in the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor belong to the scope of protection of the present application.

[0067] The following will be combined Figures 1-2 to describe a full-rotation electric tugboat driving power adaptive adjustment system and method.

[0068] Figure 1 is a structural schematic diagram of a full-rotation electric tugboat driving power adaptive adjustment system provided by an embodiment of the present application;

[0069] As Figure 1 The embodiment of the present application provides a kind of full slewing electric tugboat driving power adaptive adjustment system and method, and execution main body can be a kind of full slewing electric tugboat driving power adaptive adjustment system, system includes data acquisition module, resistance model construction module, tow demand calculation module, power model construction module, instruction generation module and adaptive adjustment module.

[0070] Data acquisition module is used to collect environmental data, tugboat state data and towed object state data in real time.

[0071] Environmental data includes water density, water flow velocity, water flow direction, wind power and wind direction. Tugboat state data includes tugboat motion state, power system data and equipment state data. Tugboat motion state includes the speed and heading of tugboat. Power system data includes propeller speed and motor power. Equipment state data includes rudder angle and propeller blade geometry. Towed object state data includes towed object motion state data and its own characteristic data. Towed object motion state data includes the speed and direction of towed object. Its own characteristic data includes the mass, volume and shape of towed object.

[0072] Resistance model construction module is used to construct resistance model based on fluid mechanics according to environmental data and towed object state data, to obtain the total resistance received by towed object, the process includes:

[0073] According to the speed of towed object, water flow velocity and direction, the relative speed of towed object and water flow is calculated by vector synthesis, which is expressed as:

[0074]

[0075] In the formula, V represents the speed of towed object, V represents the direction of towed object, V represents water flow velocity, V represents water flow direction.

[0076] According to water density and its own characteristic, the surface area of towed object in contact with water is calculated, and the friction resistance of towed object is calculated in combination with the relative speed of water resistance, which is expressed as:

[0077]

[0078] In the formula, ρ represents water density, C represents friction resistance coefficient, A represents the surface area of towed object in contact with water.

[0079] The projection area of towed object perpendicular to the direction of motion is obtained, and the differential pressure resistance of towed object is calculated in combination with water density and relative speed of water resistance, which is expressed as:

[0080]

[0081] wherein, represents the pressure differential resistance coefficient, represents the projection area of the towed object in the direction perpendicular to the moving direction.

[0082] The friction resistance and the pressure differential resistance are added to obtain the water resistance of the towed object, and the formula is as follows:

[0083]

[0084] wherein, represents the water resistance of the towed object.

[0085] According to the speed of the towed object, the size of the wind force and the wind direction, the relative speed of the wind resistance of the towed object and the air is calculated by vector composition.

[0086] According to the wind direction and the characteristic data of the towed object, the projection area of the towed object in the direction perpendicular to the wind direction is calculated, and the wind resistance of the towed object is calculated in combination with the relative speed of the wind resistance, and the formula is as follows:

[0087]

[0088] wherein, represents the air density, represents the wind resistance coefficient, represents the projection area of the towed object in the direction perpendicular to the wind direction, represents the relative speed of the wind resistance.

[0089] The water resistance and the wind resistance are added to obtain the total resistance received by the towed object, and the formula is as follows:

[0090]

[0091] wherein, represents the total resistance received by the towed object.

[0092] The towing demand calculation module is used to calculate the towing demand of the towed object according to the resistance model, and the towing demand includes the towing demand force and the towing demand direction.

[0093] The process of calculating the towing demand includes:

[0094] According to the operation task of the tugboat, the target speed and the target heading of the towed object are obtained.

[0095] According to the current speed, the target speed, the current heading and the target heading of the towed object, the acceleration demand of the towed object in the x and y directions is calculated by kinematic formula, and the formula is as follows:

[0096]

[0097]

[0098] wherein, denotes the acceleration demand of the towed object in the x direction, denotes the acceleration demand of the towed object in the y direction, denotes the target speed of the towed object, denotes the current speed of the towed object, denotes the target heading of the towed object, denotes the current moving direction of the towed object, and T denotes the control period.

[0099] According to Newton's second law, the required resultant force of the towed object in the x and y directions is calculated in combination with the mass and acceleration demand of the towed object, and the formula is expressed as:

[0100]

[0101]

[0102] wherein, denotes the mass of the towed object.

[0103] In combination with the resistance model of the towed object, the total resistance received by the towed object is decomposed in the x and y directions according to the current moving direction of the towed object, and the resistance that needs to be overcome by the towed object in the x and y directions is obtained. The required resultant force and the resistance that needs to be overcome are added to obtain the required towing force in the x and y directions, and the formula is expressed as:

[0104]

[0105]

[0106] wherein, denotes the required towing force of the towed object in the x direction, denotes the required towing force of the towed object in the y direction, denotes the required resultant force of the towed object in the x direction, denotes the required resultant force of the towed object in the y direction, denotes the resistance that needs to be overcome by the towed object in the x direction, denotes the resistance that needs to be overcome by the towed object in the y direction.

[0107] According to the required towing force of the towed object in the x and y directions respectively, the size and direction of the required towing force of the towed object sailing according to the target speed and the target heading are calculated by the Pythagorean theorem and trigonometric functions, and the formula is expressed as:

[0108]

[0109]

[0110] in which, represents the towing demand force, represents the towing demand direction.

[0111] The power model construction module is configured to construct a power model of the tugboat according to the tugboat state data, and to correct the power in combination with the environmental data to obtain towing data, the towing data including actual power of the tugboat and an actual power direction of the tugboat.

[0112] The process of constructing the power model of the tugboat according to the tugboat state data includes:

[0113] The geometric parameters of the propeller blade are obtained, the geometric parameters including the radius and the width of the blade.

[0114] The propeller blade is divided into N blade elements along the radial direction, the radius range of each blade element being , i = 1, 2,..., N.

[0115] For the i-th blade element, the linear velocity of the blade element is calculated according to the radius position where the blade element is located, the lift and drag of the blade element are calculated through the lift and drag coefficient curves of the airfoil in combination with the inflow angle of the blade element, and the formula is expressed as:

[0116]

[0117]

[0118] in which, dL represents the lift of the blade element, dD represents the drag of the blade element, represents the water density, represents the speed of the tugboat, represents the lift coefficient, represents the drag coefficient, represents the width of the blade.

[0119] The lift and drag of all blade elements are integrated along the radial direction to obtain the thrust of the entire propeller, and the formula is expressed as:

[0120]

[0121] in which, r represents the radius of the blade, represents the inflow angle of the blade element, and n represents the rotation speed of the propeller.

[0122] The process of correcting the power in combination with the environmental data includes:

[0123] The water flow force of the tugboat is calculated according to the relative speed of the tugboat and the water flow, the hydrodynamic coefficient of the tugboat, and the projected area.

[0124] According to the relative speed of the tugboat and the air, the wind resistance coefficient and the projected area of the tugboat, the wind force acting on the tugboat is calculated.

[0125] Combined with the influence of the water flow force and the wind force, the actual power provided by the tugboat is the propeller thrust minus the components of the wind resistance and the water flow resistance in the thrust direction, which is expressed by the formula:

[0126]

[0127] In the formula, represents the actual power of the tugboat, represents the propeller thrust, represents the wind force, represents the rudder angle, represents the wind direction, represents the water flow force, represents the water flow direction.

[0128] According to the principle of force combination, by calculating the direction of the combined force of the wind resistance and the water flow resistance, the direction of the tugboat power is corrected, and the formula of the actual direction of the tugboat power is:

[0129]

[0130] In the formula, represents the actual direction of the tugboat power, represents the combined force of the wind force and the water flow force, represents the direction of the combined force.

[0131] The instruction generation module is used to calculate the target towing force and the target towing direction of the tugboat according to the towing requirement and the towing data, and to generate adjustment instructions by using the PID control algorithm, the adjustment instructions including the rudder angle adjustment amount and the propeller speed adjustment amount.

[0132] The process of calculating the target towing force and the target towing direction of the tugboat according to the towing requirement and the towing data includes:

[0133] The actual power of the tugboat is decomposed into components in the x and y directions, which is expressed by the formula:

[0134]

[0135]

[0136] In the formula, represents the component of the actual power of the tugboat in the x direction, represents the component of the actual power of the tugboat in the x direction.

[0137] The difference between the actual power of the tugboat and the target towing force is calculated, and the formula is as follows:

[0138]

[0139]

[0140] wherein, represents the difference between the actual power of the tugboat in the x direction, represents the difference between the actual power of the tugboat in the y direction, represents the towing force required by the towed object in the x direction, represents the towing force required by the towed object in the y direction.

[0141] The power component required by the tugboat is obtained, and the formula is as follows:

[0142]

[0143]

[0144] The power component required by the tugboat is synthesized to obtain the target towing force and the target towing direction of the tugboat, and the formula is as follows:

[0145]

[0146]

[0147] wherein, represents the target towing force of the tugboat, represents the target towing direction of the tugboat.

[0148] The process of generating the adjustment instruction by using the PID control algorithm includes:

[0149] The towing force and the towing direction required by the tugboat are taken as the control target.

[0150] The rudder angle and the propeller speed are selected as the control variables.

[0151] The error between the actual power of the tugboat and the target towing force, and the error between the actual power direction of the tugboat and the target towing direction are calculated respectively.

[0152] The control instruction for adjusting the rudder angle is generated by using the PID control algorithm, and the formula is as follows:

[0153]

[0154] The control instruction for adjusting the propeller speed is generated, and the formula is as follows:

[0155]

[0156] wherein, and represents a proportional coefficient, and represents an integral coefficient, and represents a differential coefficient, represents the error between the actual power of the tugboat and the target towing power, represents the error between the direction of the actual power of the tugboat and the target towing direction, represents the adjustment amount of the rudder angle, represents the adjustment amount of the propeller speed.

[0157] The adaptive adjustment module is used to adjust the rudder and propeller state of the tugboat in real time according to the adjustment instruction.

[0158] The process of real-time adjustment includes:

[0159] Through the rudder controller, the rudder is driven to rotate according to the rudder and propeller angle adjustment instruction, so that the rotation angle of the rudder and propeller is adjusted from the current angle to During the adjustment process, the actual angle of the rudder and propeller is fed back in real time and compared with the target angle. If there is an error, fine adjustment is continued.

[0160] Through the motor controller, the motor power is adjusted according to the propeller speed adjustment instruction, so that the rotation speed of the propeller is adjusted from the current rotation speed n to During the adjustment process, the actual rotation speed of the propeller is fed back in real time and compared with the target rotation speed. If there is an error, fine adjustment is continued.

[0161] In summary, the embodiment provides a full-rotation electric tugboat driving power adaptive adjustment system. By collecting environmental data, tugboat state data and towed object state data in real time, combining the resistance model construction module and the power model construction module, the total resistance received by the towed object can be accurately calculated based on the principle of fluid mechanics, and the tugboat power model can be accurately constructed. Compared with the traditional empirical adjustment, the power adjustment accuracy can be improved, the tugboat power output can be highly matched with the actual operation demand, and the situation of insufficient or excessive power output can be avoided.

[0162] In terms of safety, the system can quickly respond to changes in the environment and the state of the towed object. When encountering sudden severe weather or abnormal posture of the towed object, the instruction generation module uses the PID control algorithm to quickly generate adjustment instructions, and the adaptive adjustment module adjusts the rudder and propeller state in real time, so that the tugboat can adjust the power and direction in time. The risk of accidents such as breakage of tow cable and loss of control of towed object caused by mismatch of power during towing is effectively reduced, and the safety of port operation and ship towing is ensured.

[0163] In terms of work efficiency, precise power adjustment enables the tugboat to perform towing work with optimal power and direction. In complex water environment, the work efficiency of the tugboat can be improved, the completion time of the towing task can be greatly reduced, the port operation turnover rate can be improved, and the operation cost can be reduced. At the same time, the adaptive adjustment avoids waste of power, conforms to the development trend of energy saving and emission reduction, and is helpful to promote the green and sustainable development of the shipping industry.

[0164] Based on the same general inventive concept, the present application also protects a full-rotation electric tugboat driving power adaptive adjustment method. Hereinafter, a full-rotation electric tugboat driving power adaptive adjustment method provided by the present application will be described, and the full-rotation electric tugboat driving power adaptive adjustment method described hereinafter can be correspondingly referred to the full-rotation electric tugboat driving power adaptive adjustment system described hereinbefore.

[0165] Figure 2 is a flowchart of a full-rotation electric tugboat driving power adaptive adjustment method provided by an embodiment of the present application.

[0166] As shown in Figure 2 , a full-rotation electric tugboat driving power adaptive adjustment method, the method comprising:

[0167] Real-time collection of environmental data, tugboat state data and towed object state data.

[0168] According to the environmental data and the towed object state data, a resistance model based on fluid mechanics is constructed to obtain the total resistance received by the towed object.

[0169] According to the resistance model, the towing demand of the towed object is calculated, including the towing demand force and the towing demand direction.

[0170] According to the tugboat state data, a power model of the tugboat is constructed, and the power is corrected in combination with the environmental data to obtain the towing data, including the actual power of the tugboat and the actual power direction of the tugboat.

[0171] According to the towing demand and the towing data, the target towing force and the target towing direction of the tugboat are calculated, and a PID control algorithm is adopted to generate an adjustment instruction, including the rudder angle adjustment amount and the propeller speed adjustment amount.

[0172] According to the adjustment instruction, the rudder and propeller state of the tugboat is adjusted in real time.

[0173] Those skilled in the art can clearly understand the technical solutions of the various embodiments from the above description of the embodiments, and the various embodiments can be implemented by means of software with the necessary general hardware platforms, and of course, can also be implemented by hardware. Based on such understanding, the above technical solutions, essentially or in other words, the part of the prior art that makes a contribution, can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, and the like, and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0174] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, rather than 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: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for some technical features therein; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A full-rotation electric tugboat drive power adaptive adjustment system, characterized in that, The method comprises the following steps: a data acquisition module is used to acquire environmental data, tugboat state data and towed object state data in real time; the environmental data comprises water density, water flow speed, water flow direction, wind power and wind direction; the tugboat state data comprises tugboat motion state, power system data and equipment state data; the tugboat motion state comprises the speed and direction of the tugboat; the power system data comprises propeller rotation speed and motor power; the equipment state data comprises rudder angle and propeller blade geometry parameters; the towed object state data comprises towed object motion state data and self-characteristics data; the towed object motion state data comprises the speed and direction of the towed object; the self-characteristics data comprises the mass, volume and shape of the towed object; a resistance model construction module is used to construct a fluid mechanics-based resistance model according to the environmental data and the towed object state data, and to acquire the total resistance received by the towed object; the process of acquiring the total resistance received by the towed object comprises the following steps: a water resistance relative speed of the towed object and the water flow is calculated through vector composition according to the speed, direction and water flow speed of the towed object; a surface area of the towed object in contact with the water is calculated according to the water density and the self-characteristics, and the friction resistance of the towed object is calculated in combination with the water resistance relative speed; a projection area of the towed object in a direction perpendicular to the motion direction is acquired, and the pressure difference resistance of the towed object is calculated in combination with the water density and the water resistance relative speed; the friction resistance and the pressure difference resistance are added to obtain the water resistance of the towed object; The propeller blade is divided into N blade elements along the radial direction, and the radius range of each blade element is , i = 1, 2, …, N; a wind resistance relative speed of the towed object and the air is calculated through vector composition according to the speed, wind power and wind direction of the towed object; a projection area of the towed object in a direction perpendicular to the wind direction is calculated according to the wind direction and the self-characteristics data, and the wind resistance of the towed object is calculated in combination with the wind resistance relative speed; the water resistance and the wind resistance are added to obtain the total resistance received by the towed object; a towing demand calculation module is used to calculate the towing demand of the towed object according to the resistance model, wherein the towing demand comprises towing demand force and towing demand direction; 2. A full-circle electric tugboat drive power adaptive regulation system according to claim 1, characterized in that, a power model construction module is used to construct a power model of the tugboat according to the tugboat state data, and to perform power correction in combination with the environmental data to obtain towing data, wherein the towing data comprises actual power of the tugboat and actual power direction of the tugboat; the process of constructing the power model of the tugboat according to the tugboat state data comprises the following steps: geometric parameters of the propeller blades are acquired, wherein the geometric parameters comprise the radius and width of the blades; for the i-th blade element, the linear speed of the blade element is calculated according to the radius position where the blade element is located, and the lift and drag of the blade element are calculated through the lift and drag coefficient curves of the airfoil in combination with the inflow angle of the blade element; the lift and drag of all blade elements are integrated along the radius direction to obtain the thrust of the propeller; an instruction generation module is used to calculate the target towing force and target towing direction of the tugboat according to the towing demand and the towing data, and to generate adjustment instructions by using a PID control algorithm, wherein the adjustment instructions comprise rudder angle adjustment amount and propeller rotation speed adjustment amount; an adaptive adjustment module is used to adjust the state of the rudder and propeller of the tugboat in real time according to the adjustment instructions. the process of calculating the towing demand comprises the following steps: According to the operation task of the tugboat, the target speed and the target heading of the towed object are obtained; According to the current speed, the target speed, the current heading and the target heading of the towed object, the acceleration requirement of the towed object in the x and y directions is calculated through kinematic formula; According to Newton's second law, combined with the mass and acceleration requirement of the towed object, the required resultant force of the towed object in the x and y directions is calculated; Combined with the resistance model of the towed object, the total resistance received by the towed object is decomposed in the x and y directions according to the current motion direction of the towed object, and the resistance required to be overcome by the towed object in the x and y directions is obtained, and the required resultant force is added to the resistance required to be overcome, to obtain the required towing force in the x and y directions. According to the required towing force of the towed object in the x and y directions respectively, the size and direction of the required towing force of the towed object sailing according to the target speed and the target heading are calculated through the Pythagorean theorem and trigonometric function.

3. A full-circle electric tugboat drive power adaptive regulation system according to claim 1, characterized in that, The process of power correction combined with the environmental data includes: According to the relative speed of the tugboat and the water flow, the hydrodynamic coefficient and the projected area of the tugboat, the water flow force of the tugboat is calculated; According to the relative speed of the tugboat and the air, the wind resistance coefficient and the projected area of the tugboat, the wind force of the tugboat is calculated; Combined with the influence of water flow force and wind force, the actual power that the tugboat can provide is the propeller thrust minus the component of wind resistance and water flow resistance in the thrust direction; According to the principle of force composition, the direction of the actual power of the tugboat is corrected by calculating the direction of the resultant force of wind resistance and water flow resistance, to obtain the actual power direction of the tugboat.

4. A full-circle electric tugboat drive power adaptive regulation system according to claim 1, characterized in that, The process of calculating the target towing force and the target towing direction of the tugboat according to the towing requirement and the towing data includes: Decompose the actual power of the tugboat into x and y direction components; Combined with the required towing force of the towed object in the x and y directions, the difference between the actual power components of the tugboat is calculated to obtain the power component that the tugboat needs to provide; The power component that the tugboat needs to provide is synthesized to obtain the target towing force and the target towing direction of the tugboat.

5. A full-circle electric tugboat drive power adaptive regulation system according to claim 1, characterized in that, The process of generating adjustment instructions by PID control algorithm includes: Taking the towing force and the towing direction that the tugboat needs to provide as the control target; Selecting the rudder angle and the propeller speed as the control variable; Respectively calculating the error between the current actual power of the tugboat and the target towing force, and the error between the current actual power direction of the tugboat and the target towing direction; Generating control instructions for adjusting the rudder angle by PID control algorithm, which is expressed as: Generating control instructions for adjusting the propeller speed, which is expressed as: wherein and denotes a proportional coefficient, and denotes an integral coefficient, and denotes a differential coefficient, denotes the error between the actual power of the tugboat and the target towing power, denotes the error between the direction of the actual power of the tugboat and the target towing direction, denotes the adjustment amount of the rudder angle, denotes the adjustment amount of the propeller rotation speed.

6. A full-circle electric tugboat drive power adaptive regulation system according to claim 1, characterized in that, The process of real-time adjustment includes: The rudder angle is adjusted from the current angle to the target angle by driving the rudder to rotate according to the rudder angle adjustment instruction through the rudder controller. is adjusted to ; By means of the motor controller, the motor power is adjusted according to the propeller rotational speed adjustment command, so that the rotational speed of the propeller is adjusted from the current rotational speed n to .

7. A method for adaptive adjustment of azimuthing electric tugboat drive power, the method for adaptive adjustment of azimuthing electric tugboat drive power being used to implement a system for adaptive adjustment of azimuthing electric tugboat drive power as claimed in any one of claims 1 to 6, characterized in that the method It includes: Real-time acquisition of environmental data, tugboat state data and towed object state data; According to the environmental data and the towed object state data, a resistance model based on fluid mechanics is constructed to obtain the total resistance received by the towed object; According to the resistance model, the towing requirement of the towed object is calculated, which includes the towing requirement force and the towing requirement direction; According to the tugboat state data, a power model of the tugboat is constructed, and the power is corrected combined with the environmental data to obtain the towing data, which includes the actual power of the tugboat and the actual power direction of the tugboat; The target towing force and the target towing direction of the tugboat are calculated according to the towing demand and the towing data, and a PID control algorithm is adopted to generate an adjusting instruction, wherein the adjusting instruction comprises a rudder angle adjusting amount and a propeller rotating speed adjusting amount; The rudder and propeller state of the tugboat is adjusted in real time according to the adjusting instruction.

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