Navigation wind energy rotary sail power intelligent control system

Abstract

The invention discloses a sailing wind energy rotary sail power intelligent control system. The system comprises a data monitoring unit, a sailing control data unit, a quantification controller and an adjustment execution unit. The data monitoring unit comprises a wind direction sensor, a wind speed sensor and a rotating speed sensor. Wind direction data during ship navigation can be collected in real time through the wind direction sensor, course data monitored by the navigation control data unit during ship navigation are combined and transmitted to the quantization controller to be processed and analyzed, the quantization controller sends out a control instruction while the optimal dip angle parameter is calculated, and the optimal dip angle parameter is calculated. The inclination angle actuator can adjust the rotary sail body to be at the angle with the highest wind energy capturing efficiency according to the control instruction; meanwhile, wind speed data during ship navigation can be collected in real time through a wind speed sensor, and the wind speed data are combined with navigational speed data monitored by a navigation control data unit and transmitted to a quantization controller to be processed and analyzed.

Description

Technical Field

[0001] This invention relates to the field of marine power control technology, specifically to an intelligent control system for wind-powered sail propulsion. Background Technology

[0002] In the field of ship navigation, the traditional power source is mainly fuel engines. However, this power method has many drawbacks. On the one hand, the large consumption of fuel not only increases operating costs, but also causes serious pollution to the environment. The exhaust gas emitted has a negative impact on the atmospheric environment. On the other hand, as global energy issues become increasingly prominent, finding sustainable and environmentally friendly energy utilization methods has become an important direction for the development of the shipbuilding industry.

[0003] As an abundant renewable energy source, wind energy has significant advantages when applied to ship propulsion. By installing sail systems on ships to capture wind energy, additional propulsion can be provided to the ships, reducing their dependence on fuel oil.

[0004] Traditional sail systems are typically installed vertically, and during use, they cannot adjust the sail's angle of attack according to real-time changes in the ship's course and speed, as well as dynamic adjustments in external wind direction and speed. This often prevents the sail from being in optimal wind conditions, resulting in low overall wind energy utilization efficiency and difficulty in providing stable and intelligent auxiliary power for ship navigation. Summary of the Invention

[0005] The purpose of this invention is to provide an intelligent control system for wind-powered sail propulsion, which has the advantages of being able to intelligently adjust the pitch angle and rotation speed according to wind direction and speed, and realizing the triple conversion of thrust, lift and rotational kinetic energy, thus greatly improving the efficiency of wind energy utilization.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a navigation wind-powered sail propulsion intelligent control system, the system comprising: a data monitoring unit, a navigation control data unit, a quantization controller, and an adjustment execution unit; The data monitoring unit includes a wind direction sensor, a wind speed sensor, and a rotation speed sensor. Wind direction sensor: Used to monitor wind direction data in real time when the ship is sailing, providing a basis for the system to adjust the windward angle of the sail body to optimize the wind energy capture attitude; Wind speed sensor: Used to monitor wind speed data in real time when the ship is sailing, and to provide basic parameters for the system to adjust the operating speed of the sail body in combination with the ship's sailing status; Speed ​​sensor: Used to monitor the speed data between the sail body, drive shaft and hydraulic pump in real time, forming multi-dimensional speed feedback data, providing accurate basis for the system to dynamically adjust the operating speed when capturing wind energy; Navigation and control data unit: It can collect the ship's speed and heading data in real time, and provide key references for the system to adapt to the ship's current operating conditions by analyzing the ship's power demand and navigation target; Quantization controller: Used to receive multi-source signals transmitted from the data monitoring unit and the navigation control data unit, and after weighted analysis, operating condition matching and optimization calculation, output targeted tilt angle adjustment commands and speed adjustment commands; The adjustment unit includes a tilt actuator and a speed-regulating motor; Tilt actuator: Connected to the support structure of the sail body, it is used to precisely execute the tilt adjustment command of the quantitative controller, and by changing the windward tilt angle of the sail body, it makes the sail body position at the optimal wind-catching angle. Speed-regulating motor: Connected to the main sail body via a transmission mechanism, it responds to speed adjustment commands from the quantization controller, continuously regulating the sail body's rotation speed to match wind energy utilization efficiency at different wind speeds. As a preferred embodiment, the output terminals of the data monitoring unit and the navigation control data unit are electrically connected to the input terminal of the quantization controller via shielded cables, and the output terminal of the quantization controller is electrically connected to the input terminal of the adjustment execution unit via shielded cables.

[0007] As a preferred embodiment, the navigation control data unit includes a speed sensor and a heading sensor; wherein the speed sensor is a Doppler speedometer used to collect the actual speed of the ship relative to the water flow; and the heading sensor is a fiber optic gyroscope used to collect the real-time heading angle of the ship.

[0008] As a preferred embodiment, the wind direction sensor and wind speed sensor are integrated and installed at the highest and unobstructed position of the ship's superstructure, with a data sampling frequency of not less than 10Hz; wherein the speed sensor adopts a non-contact magnetoelectric sensor and is installed in the middle of the transmission shaft connecting the output shaft of the sail body and the input shaft of the hydraulic pump.

[0009] As a preferred embodiment, the quantization controller incorporates an intelligent control and quantization adjustment mechanism model. This model can automatically generate the optimal windward tilt angle range and optimal speed range of the sail body based on real-time collected wind direction, wind speed, sail speed, and heading data, and output control commands based on these.

[0010] As a preferred embodiment, the tilt actuator includes a servo motor, a reduction gear set, and an angle feedback encoder. The servo motor drives the pitch mechanism of the sail body through the reduction gear set, and the angle feedback encoder collects the current tilt angle in real time and feeds it back to the quantization controller to realize closed-loop adjustment of the tilt angle.

[0011] As a preferred embodiment, the adjustment execution unit further includes an electromagnetic braking device, which is installed on the output shaft of the sail body. When the system detects an abnormal operating condition or receives a stop command, the quantization controller controls the electromagnetic braking device to complete the braking within 2 seconds.

[0012] As a preferred embodiment, the speed-regulating motor is a permanent magnet synchronous servo motor equipped with a vector frequency converter. Its speed adjustment range is 0-350 r / min, and it has a speed adjustment accuracy of 0.1 r / min. It receives speed commands from the quantization controller through pulse width modulation signals to achieve precise control of the speed of the sail body.

[0013] As a preferred embodiment, the quantization controller has an external human-machine interface unit. The human-machine interface unit is bidirectionally connected to the quantization controller and can display the operating parameters and fault information of each unit of the system, and allow the operator to manually input control commands to switch the system operating mode.

[0014] As a preferred embodiment, the human-machine interaction unit includes a high-definition touch screen and physical emergency operation buttons. The screen can display the real-time attitude of the sail body and the system operating status through a three-dimensional dynamic interface. The physical emergency operation buttons can directly trigger basic control functions such as emergency stop and reset in the event of a system communication failure, ensuring the safety and reliability of system operation.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: This invention utilizes a wind direction sensor to collect real-time wind direction data during ship navigation. This data, combined with heading data monitored by the ship's navigation control data unit, is transmitted to a quantization controller for processing and analysis. The controller calculates the optimal tilt angle parameters and simultaneously issues control commands, enabling the tilt actuator to adjust the sail to the angle with the highest wind energy capture efficiency. Conversely, a wind speed sensor collects real-time wind speed data during ship navigation. This data, combined with ship speed data monitored by the navigation control data unit, is transmitted to the quantization controller for processing and analysis. The controller calculates the optimal speed of the sail and simultaneously issues control commands, enabling the speed-regulating motor to adjust the sail's speed to match the wind speed, preventing stalling or efficiency degradation and maximizing kinetic energy output. Attached Figure Description

[0016] Figure 1 This is a system block diagram of the present invention; Figure 2 This is a schematic diagram of the data monitoring unit of the present invention; Figure 3 This is a schematic diagram of the adjustment execution unit of the present invention; Figure 4 This is a schematic diagram of the system of the present invention. Detailed Implementation

[0017] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0018] Please see Figures 1-4 As shown, the present invention provides a technical solution: a navigation wind-powered sail propulsion intelligent control system, the system comprising: a data monitoring unit, a navigation control data unit, a quantization controller, and an adjustment execution unit; The data monitoring unit includes a wind direction sensor, a wind speed sensor, and a rotation speed sensor. Wind direction sensor: Used to monitor wind direction data in real time when the ship is sailing, providing a basis for the system to adjust the windward angle of the sail body to optimize the wind energy capture attitude; Wind speed sensor: Used to monitor wind speed data in real time when the ship is sailing, and to provide basic parameters for the system to adjust the operating speed of the sail body in combination with the ship's sailing status; Speed ​​sensor: Used to monitor the speed data between the sail body, drive shaft and hydraulic pump in real time, forming multi-dimensional speed feedback data, providing accurate basis for the system to dynamically adjust the operating speed when capturing wind energy; Navigation and control data unit: It can collect the ship's speed and heading data in real time, and provide key references for the system to adapt to the ship's current operating conditions by analyzing the ship's power demand and navigation target; Quantization controller: Used to receive multi-source signals transmitted from the data monitoring unit and the navigation control data unit, and after weighted analysis, operating condition matching and optimization calculation, output targeted tilt angle adjustment commands and speed adjustment commands; The adjustment unit includes a tilt actuator and a speed-regulating motor; Tilt actuator: Connected to the support structure of the sail body, it is used to precisely execute the tilt adjustment command of the quantitative controller, and by changing the windward tilt angle of the sail body, it makes the sail body position at the optimal wind-catching angle. Speed-regulating motor: Connected to the main body of the sail through a transmission mechanism, it is used to respond to the speed adjustment command of the quantitative controller and steplessly regulate the rotation speed of the main body of the sail to match the wind energy utilization efficiency under different wind speeds.

[0019] Specifically, the outputs of the data monitoring unit and the navigation control data unit are electrically connected to the input of the quantization controller via shielded cables, and the output of the quantization controller is electrically connected to the input of the regulation execution unit via shielded cables.

[0020] This technical solution involves: A wind direction sensor collects real-time wind direction data during ship navigation, combining it with heading data monitored by the ship's navigation control data unit. This data is then transmitted to a quantization controller for processing and analysis to calculate the optimal tilt angle parameters. Simultaneously, the quantization controller issues control commands, enabling the tilt actuator to adjust the sail to the angle with the highest wind energy capture efficiency. Similarly, a wind speed sensor collects real-time wind speed data during ship navigation, combining it with ship speed data monitored by the navigation control data unit. This data is then transmitted to the quantization controller for processing and analysis to calculate the optimal sail rotation speed. The quantization controller also issues control commands, allowing the speed-regulating motor to adjust the sail rotation speed to match the wind speed, preventing stalling or efficiency degradation and maximizing kinetic energy output.

[0021] It should be noted that: First, the sail body adopts a vertical axis design, and the angle between the sail body and the sail direction is adjusted to 60°-90° through a quantitative controller. When the wind acts on the tilted sail body, the airflow creates a pressure difference on the blade surface, which decomposes into a positive thrust A along the sail direction, directly assisting in propulsion. Second, the streamlined blade structure of the sail body creates a speed difference when the airflow passes over the upper and lower surfaces, which generates an upward lift B according to Bernoulli's principle. This lift B can offset part of the equipment's own weight (such as the ship's draft pressure), indirectly reducing the energy consumption of propulsion. Third, the wind drives the sail body to rotate, generating rotational torque. This torque is connected to a hydraulic pump through a drive shaft, converting mechanical energy into hydraulic energy for storage or directly driving the power system, realizing the secondary utilization of wind energy.

[0022] Specifically, the navigation control data unit includes a speed sensor and a heading sensor; the speed sensor uses a Doppler speedometer to collect the ship's actual speed relative to the water flow; the heading sensor uses a fiber optic gyroscope to collect the ship's real-time heading angle.

[0023] Specifically, the wind direction sensor and wind speed sensor are integrated and installed at the highest and unobstructed position of the ship's superstructure, with a data sampling frequency of not less than 10Hz; the speed sensor adopts a non-contact magnetoelectric sensor and is installed in the middle of the transmission shaft connecting the output shaft of the sail body and the input shaft of the hydraulic pump.

[0024] Specifically, the quantization controller has a built-in intelligent control and quantization adjustment mechanism model. This model can automatically generate the optimal windward tilt angle range and optimal speed range of the sail body based on real-time collected wind direction, wind speed, sail speed and heading data, and output control commands based on this.

[0025] Specifically, the tilt actuator includes a servo motor, a reduction gear set, and an angle feedback encoder. The servo motor drives the pitch mechanism of the sail body through the reduction gear set, and the angle feedback encoder collects the current tilt angle in real time and feeds it back to the quantization controller to realize closed-loop adjustment of the tilt angle.

[0026] Specifically, the adjustment and execution unit also includes an electromagnetic braking device, which is installed on the output shaft of the sail body. When the system detects an abnormal operating condition or receives a stop command, the quantization controller controls the electromagnetic braking device to complete the braking within 2 seconds.

[0027] Specifically, the speed-regulating motor adopts a permanent magnet synchronous servo motor equipped with a vector frequency converter. Its speed adjustment range is 0-350 r / min, and it has a speed adjustment accuracy of 0.1 r / min. It receives speed commands from the quantization controller through pulse width modulation signals to achieve precise control of the speed of the sail body.

[0028] Specifically, the quantization controller has an external human-machine interface unit. The human-machine interface unit is bidirectionally connected to the quantization controller and can display the operating parameters and fault information of each unit in the system. It also allows operators to manually input control commands to switch the system operating mode.

[0029] Specifically, the human-machine interaction unit includes a high-definition touch screen and physical emergency operation buttons. The screen can display the real-time attitude of the sail body and the system operating status through a three-dimensional dynamic interface. The physical emergency operation buttons can directly trigger basic control functions such as emergency stop and reset in the event of a system communication failure, ensuring the safety and reliability of system operation.

[0030] Calculation process of intelligent control and quantitative adjustment mechanism model I. Optimal Tilt Angle Calculation (Wind Direction-Tilt Angle Closed-Loop Control) Objective: To calculate the optimal tilt angle (60°-90°) of the sail body based on the relative angle between the wind direction and the sailing direction, so as to maximize the combined efficiency of thrust A and lift B.

[0031] Input data: • Wind direction angle α_w (relative to the front of the ship) collected by the wind direction sensor • The target heading angle α_t given by the heading control command (if yaw is required) • Current sail tilt angle θ_current Calculation steps: ① Calculate the effective wind direction angle: α_eff=|α_w-α_t| ② Optimal tilt angle calculation (piecewise function): Wind direction conditions Optimal tilt angle θ_opt α_eff≤30° 90° (vertical unfolding) 30°<α_eff<150° 90° - 0.5α_eff (linear adjustment) α_eff≥150° 60° (minimum tilt angle) ③Execution control: Adjust to θ_opt using the tilt actuator. II. Spinner speed matching (dynamic adaptation of wind speed and spinner speed) Objective: Maintain a weekly speed ratio λ = ωR / v_w ≈ 3.14 Input data: • Real-time wind speed v_w • Current rotational speed ω •Sail body radius R • Target speed v_t Calculation process: ① Calculate the target rotational speed: ω_target=(3.14×v_w) / R ② PID control implementation: Control Items Calculation formula Proportional Term K_p×(ω_target-ω) Integral term K_i×∫(ω_target-ω)dt Differential term K_d×d(ω_target-ω) / dt ③ Key Parameter Table: parameter Typical value effect λ_opt 3.14 Optimal weekly speed ratio K_p 0.8-1.2 Response speed adjustment K_i 0.05-0.1 Eliminate steady-state error K_d 0.2-0.5 Suppressing overshoot Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit the scope of protection of the present invention. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the essence and scope of the technical solutions of the present invention.

Claims

1. A wind-powered sail propulsion intelligent control system, characterized in that, The system includes: a data monitoring unit, a navigation control data unit, a quantization controller, and an adjustment execution unit; The data monitoring unit includes a wind direction sensor, a wind speed sensor, and a rotation speed sensor. Wind direction sensor: Used to monitor wind direction data in real time when the ship is sailing, providing a basis for the system to adjust the windward angle of the sail body to optimize the wind energy capture attitude; Wind speed sensor: Used to monitor wind speed data in real time when the ship is sailing, and to provide basic parameters for the system to adjust the operating speed of the sail body in combination with the ship's sailing status; Speed ​​sensor: Used to monitor the speed data between the sail body, drive shaft and hydraulic pump in real time, forming multi-dimensional speed feedback data, providing accurate basis for the system to dynamically adjust the operating speed when capturing wind energy; Navigation and control data unit: It can collect the ship's speed and heading data in real time, and provide key references for the system to adapt to the ship's current operating conditions by analyzing the ship's power demand and navigation target; Quantization controller: Used to receive multi-source signals transmitted from the data monitoring unit and the navigation control data unit, and after weighted analysis, operating condition matching and optimization calculation, output targeted tilt angle adjustment commands and speed adjustment commands; The adjustment unit includes a tilt actuator and a speed-regulating motor; Tilt actuator: Connected to the support structure of the sail body, it is used to precisely execute the tilt adjustment command of the quantitative controller, and by changing the windward tilt angle of the sail body, it makes the sail body position at the optimal wind-catching angle. Speed-regulating motor: Connected to the main body of the sail through a transmission mechanism, it is used to respond to the speed adjustment command of the quantitative controller and steplessly regulate the rotation speed of the main body of the sail to match the wind energy utilization efficiency under different wind speeds.

2. The intelligent control system for wind-powered sail propulsion according to claim 1, characterized in that: The output terminals of the data monitoring unit and the navigation control data unit are electrically connected to the input terminal of the quantization controller via shielded cables, and the output terminal of the quantization controller is electrically connected to the input terminal of the adjustment execution unit via shielded cables.

3. The intelligent control system for wind-powered sail propulsion according to claim 1, characterized in that: The navigation control data unit includes a speed sensor and a heading sensor; the speed sensor uses a Doppler speedometer to collect the actual speed of the ship relative to the water flow; the heading sensor uses a fiber optic gyroscope to collect the real-time heading angle of the ship.

4. The intelligent control system for wind-powered sail propulsion according to claim 1, characterized in that: The wind direction sensor and wind speed sensor are integrated and installed at the highest and unobstructed position of the ship's superstructure, with a data sampling frequency of not less than 10Hz; the speed sensor is a non-contact magnetoelectric sensor and is installed in the middle of the transmission shaft connecting the output shaft of the sail body and the input shaft of the hydraulic pump.

5. The intelligent control system for wind-powered sail propulsion according to claim 1, characterized in that: The quantization controller has a built-in intelligent control and quantization adjustment mechanism model. This model can automatically generate the optimal windward tilt angle range and optimal speed range of the sail body based on the real-time collected wind direction, wind speed, sail speed and heading data, and output control commands based on this.

6. The intelligent control system for wind-powered sail propulsion according to claim 1, characterized in that: The tilt actuator includes a servo motor, a reduction gear set, and an angle feedback encoder. The servo motor drives the pitch mechanism of the sail body through the reduction gear set, and the angle feedback encoder collects the current tilt angle in real time and feeds it back to the quantization controller to realize closed-loop adjustment of the tilt angle.

7. The intelligent control system for wind-powered sail propulsion according to claim 1, characterized in that: The adjustment execution unit also includes an electromagnetic braking device, which is installed on the output shaft of the sail body. When the system detects an abnormal operating condition or receives a stop command, the quantization controller controls the electromagnetic braking device to complete the braking within 2 seconds.

8. The intelligent control system for wind-powered sail propulsion according to claim 1, characterized in that: The speed-regulating motor is a permanent magnet synchronous servo motor equipped with a vector frequency converter. Its speed adjustment range is 0-350 r / min, and it has a speed adjustment accuracy of 0.1 r / min. It receives speed commands from the quantization controller through pulse width modulation signals to achieve precise control of the speed of the sail body.

9. The intelligent control system for wind-powered sail propulsion according to claim 1, characterized in that: The quantization controller has an external human-machine interface unit, which is bidirectionally connected to the quantization controller. It can display the operating parameters and fault information of each unit of the system, and allow operators to manually input control commands to switch the system operating mode.

10. The intelligent control system for wind-powered sail propulsion according to claim 9, characterized in that: The human-machine interaction unit includes a high-definition touch screen and physical emergency operation buttons. The screen can display the real-time attitude of the sail body and the system operating status through a three-dimensional dynamic interface. The physical emergency operation buttons can directly trigger basic control functions such as emergency stop and reset in the event of a system communication failure, ensuring the safety and reliability of system operation.

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