A rotor sail control method, device, equipment and computer readable storage medium

Abstract

This invention discloses a rotor sail control method, device, equipment, and computer-readable storage medium, applied in the field of intelligent control technology. The method includes: predicting the wind speed and wind direction angle at a future time based on future time lead, current wind speed, and current wind direction angle; determining the predicted local wind speed and wind direction angle acting on the rotor sail installation position using a ship wind field disturbance model based on the predicted wind speed and wind direction angle; obtaining the optimal target angle of attack and optimal target speed ratio using a thrust optimization function based on the predicted local wind speed and wind direction angle; and controlling the rotor sail based on the target speed command and target rotation direction command determined by the optimal target angle of attack and optimal target speed ratio. This invention can issue control commands to the rotor sail drive system in advance, ensuring that the rotor sail is already in or near its optimal operating state when wind field changes actually affect the ship.

Description

Technical Field

[0001] This invention relates to the field of intelligent control technology, and in particular to a rotor sail control method, apparatus, device, and computer-readable storage medium. Background Technology

[0002] The core advantage of a rotor sail lies in its controllability. By adjusting its speed and direction of rotation, the magnitude and direction of thrust can be changed, thereby maximizing propulsion efficiency or ensuring navigational safety.

[0003] Currently, the mainstream control method is feedback control. Its working principle is as follows: a traditional anemometer or wind vane installed on or near the top of the rotor sail measures the wind currently acting on the sail (i.e., apparent wind). The controller calculates a control command based on the current wind conditions and the ship's status. The drive system executes this command, adjusting the rotor sail. This feedback control method has an inherent and difficult-to-overcome technical bottleneck: response lag. The specific technical problems caused by this lag include energy efficiency loss: when wind direction and speed change, the rotor sail is in a suboptimal operating state for a long period, unable to capture the best wind energy in time, resulting in a significant reduction in overall energy efficiency.

[0004] It is evident that how to solve the technical problem of control lag is a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide a rotor sail control method, apparatus, device and computer-readable storage medium, which solves the problem of control lag in the prior art.

[0006] To solve the above-mentioned technical problems, the present invention provides a method for controlling hysteresis, comprising:

[0007] Determine the future time lead corresponding to the current moment based on the current wind speed and current wind direction angle;

[0008] Based on the future time lead, the current wind speed, and the current wind direction angle, a prediction is made to obtain the predicted wind speed and predicted wind direction angle for the future time; wherein, the future time is a time determined based on the current time and the future time lead.

[0009] Based on the predicted wind speed and the predicted wind direction angle, the predicted local wind speed and predicted local wind direction angle corresponding to the predicted wind speed and predicted wind direction angle, acting on the rotor sail installation position, are determined using the ship hull wind field disturbance model.

[0010] Based on the predicted local wind speed and the predicted local wind direction angle, the optimal target angle of attack and the optimal target speed ratio are obtained using the thrust optimization function, and the target speed command and the target rotation direction command are obtained based on the optimal target angle of attack and the optimal target speed ratio.

[0011] The rotor sail is controlled based on the target speed command and the target rotation direction command.

[0012] Optionally, the future time lead corresponding to the current moment can be determined based on the current wind speed and current wind direction angle, including:

[0013] The equivalent wind speed and equivalent wind direction angle are determined based on the current wind speed and the current wind direction angle; wherein, the equivalent wind speed is the wind speed obtained by averaging the wind speeds of all height layers within the preset height of the rotor sail, and the equivalent wind direction angle is the wind direction obtained by averaging the wind direction angles of all height layers within the preset height of the rotor sail.

[0014] The future time advance is determined based on the equivalent wind speed and the equivalent wind direction angle.

[0015] Optionally, the future time lead corresponding to the current moment can be determined based on the current wind speed and current wind direction angle, including:

[0016] Obtain the longitudinal distance between the lidar and the rotor sail along the hull direction;

[0017] The wind speed estimate is determined based on the ship status data, the current wind speed, and the current wind direction angle;

[0018] The future time lead is determined based on the estimated wind speed and the longitudinal distance.

[0019] Optionally, based on the future time lead, the current wind speed, and the current wind direction angle, a prediction is made to obtain the predicted wind speed and predicted wind direction angle for the future time, including:

[0020] Based on the wind speed and wind direction angle at the current moment, and the wind speed and wind direction angle at the previous sampling moment, determine the rate of change of wind speed and the rate of change of wind direction.

[0021] After performing angle-based circling processing on the wind speed change rate and the wind direction change rate, a prediction is made based on the processed wind speed change rate, the processed wind direction change rate, and the future time advance to obtain the predicted wind speed and the initial predicted wind direction angle. The initial predicted wind direction angle is then normalized to obtain the predicted wind direction angle. The angle-based circling processing can eliminate numerical jumps caused at 0° and 360°.

[0022] Optionally, based on the predicted wind speed and the predicted wind direction angle, a ship hull wind field disturbance model is used to determine the predicted local wind speed and predicted local wind direction angle corresponding to the predicted wind speed and the predicted wind direction angle, acting on the rotor sail installation position, including:

[0023] Based on the current wind speed, the current wind direction angle, and the geometric information corresponding to the ship's superstructure, the wind speed attenuation coefficient and wind direction deflection angle are obtained using the ship's hull wind field disturbance model.

[0024] Based on the wind speed attenuation coefficient and the wind direction deflection angle, as well as the predicted wind speed and the predicted wind direction angle, the predicted local wind speed and the predicted local wind direction angle are determined.

[0025] Optionally, based on the predicted local wind speed and the predicted local wind direction angle, the optimal target angle of attack and the optimal target speed ratio are obtained using the thrust optimization function, and the target speed command and the target rotation direction command are obtained based on the optimal target angle of attack and the optimal target speed ratio, including:

[0026] The optimal thrust function is defined as maximizing the effective thrust in the direction of the ship's forward movement or minimizing the total load on the main engine; wherein the effective thrust is the force in the direction of forward movement.

[0027] Based on the aerodynamic performance map, the predicted local wind speed, and the predicted local wind direction angle, a genetic optimization algorithm is used to find the optimal target angle of attack and the optimal target speed ratio that make the thrust optimal function optimal.

[0028] Optionally, based on the predicted local wind speed and the predicted local wind direction angle, the optimal target angle of attack and the optimal target speed ratio are obtained using the thrust optimization function, and the target speed command and the target rotation direction command are obtained based on the optimal target angle of attack and the optimal target speed ratio, including:

[0029] The target speed command is determined based on the optimal target speed ratio, the predicted local wind speed, and the rotor diameter.

[0030] The target rotation direction command is determined based on the predicted local wind direction angle and the optimal target angle of attack.

[0031] The present invention also provides a rotor sail control device, comprising:

[0032] The future time lead determination module is used to determine the future time lead corresponding to the current moment based on the current wind speed and current wind direction angle.

[0033] The predicted wind speed and wind direction angle determination module is used to predict the predicted wind speed and predicted wind direction angle at a future time based on the future time advance, the current wind speed, and the current wind direction angle; wherein, the future time is a time determined based on the current time and the future time advance.

[0034] The module for determining the predicted local wind speed and wind direction angle is used to determine the predicted local wind speed and predicted local wind direction angle corresponding to the predicted wind speed and predicted wind direction angle, and the wind field disturbance model of the ship hull, based on the predicted wind speed and the predicted wind direction angle.

[0035] The instruction determination module is used to obtain the optimal target angle of attack and the optimal target speed ratio based on the predicted local wind speed and the predicted local wind direction angle, using the thrust optimization function, and to obtain the target speed command and the target rotation direction command based on the optimal target angle of attack and the optimal target speed ratio;

[0036] The rotor sail control module is used to control the rotor sail based on the target speed command and the target rotation direction command.

[0037] The present invention also provides a rotor sail control device, comprising:

[0038] Memory, used to store computer programs;

[0039] A processor for executing the computer program to implement the steps of the rotor sail control method described above.

[0040] The present invention also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the rotor sail control method described above.

[0041] The present invention also provides a computer program product, including a computer program / instructions, which, when executed by a processor, implement the steps of the above-described rotor sail control method.

[0042] As can be seen, this invention determines the future time lead corresponding to the current moment based on the current wind speed and current wind direction angle; it then predicts the predicted wind speed and predicted wind direction angle for the future moment based on the future time lead, the current wind speed, and the current wind direction angle; wherein, the future moment is the moment determined based on the current moment and the future time lead; based on the predicted wind speed and predicted wind direction angle, it uses a ship hull wind field disturbance model to determine the predicted local wind speed and predicted local wind direction angle acting on the rotor sail installation position; based on the predicted local wind speed and predicted local wind direction angle, it uses the thrust optimization function to obtain the optimal target angle of attack and the optimal target speed ratio, and obtains the target speed command and the target rotation direction command based on the optimal target angle of attack and the optimal target speed ratio; and it controls the rotor sail based on the target speed command and the target rotation direction command. Compared with the current control response lag for rotor sails, because this invention determines the future time lead, the control system can issue control commands before wind changes actually affect the rotor sail. This feedforward mechanism fundamentally eliminates the inherent lag caused by measurement and execution in traditional feedback control, ensuring that the rotor sail has already adjusted to or is close to its optimal operating state by the time the predicted wind condition changes reach it. Therefore, the rotor sail can maintain operation in the high-efficiency zone of its aerodynamic performance profile for most of its operating time, greatly reducing energy capture losses caused by control lag. Through long-term operation, this ultimately leads to a significant improvement in energy efficiency.

[0043] In addition, the present invention also provides a rotor sail control device, equipment, and computer-readable storage medium, which also have the above-mentioned beneficial effects. Attached Figure Description

[0044] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0045] Figure 1 A schematic diagram illustrating the working principle of a rotor sail provided in an embodiment of the present invention;

[0046] Figure 2 A flowchart of a rotor sail control method provided in an embodiment of the present invention;

[0047] Figure 3 A flowchart illustrating a rotor sail control method provided in an embodiment of the present invention;

[0048] Figure 4 This is a schematic diagram of the structure of a rotor sail control device provided in an embodiment of the present invention;

[0049] Figure 5 This is a schematic diagram of a rotor sail control device provided in an embodiment of the present invention. Detailed Implementation

[0050] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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.

[0051] Some terms that appear in the description of the embodiments of this application are subject to the following interpretation:

[0052] 1. Rotary Sail: A cylindrical marine energy-saving device that is driven by an electric motor to rotate at high speed around its central axis. Utilizing the Magnus effect, when wind flows over its rotating surface, a pressure difference is generated on both sides of the cylinder, thereby generating thrust perpendicular to the wind direction and providing auxiliary power for the ship's forward movement.

[0053] 2. Magnus effect: When a rotating object moves in a fluid (such as air or water), its surface rotates and drives the surrounding fluid, causing the flow velocity to increase and the pressure to decrease on one side of the object, while the flow velocity to decrease and the pressure to increase on the other side, thus generating a force perpendicular to the direction of motion and the axis of rotation.

[0054] 3. Wind-measuring lidar: A device that remotely measures wind field parameters such as wind speed and direction by emitting a laser beam and analyzing the signals reflected back from aerosols in the atmosphere. In this invention, it specifically refers to a lidar installed at the bow of a ship, pointing forward in the direction of navigation, used to detect clean winds that have not yet been disturbed by the ship's hull.

[0055] 4. Free-flow wind speed / direction: refers to the original natural wind speed and direction undisturbed by the presence of the ship itself. This is key input data obtained by the forward-facing lidar.

[0056] 5. Feedforward Control: An advanced control strategy. Its core lies in issuing control commands in advance, based on predictions of disturbances (wind in this case), before the controlled object (rotor sail in this case) is actually affected. Compared to traditional feedback control (measuring output changes first, then calculating corrections), this significantly reduces delay and overshoot, improving control quality.

[0057] 6. Thrust Vector: This refers to the thrust generated by the rotor sail, a physical quantity that has both magnitude and direction. This invention aims to precisely control the direction and magnitude of this vector to propel the ship forward most effectively.

[0058] 7. Speed ​​ratio: A dimensionless parameter used to characterize the operating state of the rotor, usually defined as J=(ω D) / u, where ω is the rotor sail angular velocity, D is the rotor sail diameter, and u is the wind speed. It is the key variable for calculating the rotor sail thrust.

[0059] 8. Angle of attack: In this paper, it refers to the angle between the equivalent local wind direction and the tangent direction at a reference point on the rotor sail circumference. This angle, together with the speed ratio, determines the magnitude and direction of the rotor sail thrust.

[0060] 9. Hull Wind Field Disturbance Model: A mathematical model describing how the speed and direction of free-flowing wind change after passing through the ship's superstructure (such as the bridge and deckhouse). This model is used to accurately convert the free-flowing wind measured by lidar into an equivalent local wind acting at the rotor sail position.

[0061] 10. Equivalent local wind: refers to the wind speed and direction actually acting at the rotor sail installation location after passing through the ship's hull turbulence. It is the basis for accurate thrust calculation and control command interpretation.

[0062] 11. Rotor Sail Aerodynamic Performance Chart: A dataset or functional relationship pre-obtained through wind tunnel testing or computational fluid dynamics simulation, describing the thrust coefficient generated by the rotor sail at different angles of attack and speed ratios. The controller uses this chart to calculate the optimal control command.

[0063] Among various wind energy utilization devices, the rotor sail, as a device based on the Magnus effect, has attracted widespread attention due to its high thrust and controllability. For example... Figure 1 As shown, Figure 1 This is a schematic diagram illustrating the working principle of a rotor sail, provided as an embodiment of the present invention. The rotor sail system is mounted on the deck and a cylindrical rotor is driven to rotate at high speed by an electric motor. The core advantage of the rotor sail lies in its controllability. By adjusting its rotational speed and direction, the magnitude and direction of thrust can be changed, thereby maximizing propulsion efficiency or ensuring navigational safety. Currently, the mainstream control method is feedback control. Its working principle is shown below:

[0064] 1. Measure the wind currently acting on the sail (i.e., apparent wind) by using a conventional anemometer or wind vane installed on or near the top of the rotor sail.

[0065] 2. The controller calculates a control command based on the current wind conditions and the ship's status.

[0066] 3. The drive system executes this command to adjust the rotor sail.

[0067] However, this feedback control method has an inherent and insurmountable technical bottleneck: response lag. This is mainly caused by the following reasons: System inertia: Large rotor sails have a huge mass, and acceleration or deceleration takes time. Measurement lag: Sensors measure the wind already acting on the ship; when wind conditions change abruptly, the system is always a step behind. Actuator response time: The response of the drive motor also requires a process. This lag directly leads to three prominent technical problems: Energy efficiency loss: When wind direction and speed change, the rotor sail is in a suboptimal working state for a long time, unable to capture the best wind energy in time, resulting in a significant reduction in overall energy efficiency. Thrust fluctuation and ship instability: When encountering gusts or turbulence, the lag in control will cause violent fluctuations in rotor sail thrust, which not only affects sailing comfort but may also threaten the ship's stability and maneuverability. Safety risks: In extreme cases, if a strong wind suddenly appears ahead that is sufficient to cause the ship to heel excessively, by the time the sensors detect it and begin to furl the sail, it may be too late, posing a safety hazard.

[0068] Please refer to Figure 2 , Figure 2 A flowchart illustrating a rotor sail control method provided in an embodiment of the present invention. The method may include:

[0069] S101, determine the future time lead corresponding to the current moment based on the current wind speed and current wind direction angle.

[0070] The steps in this embodiment can be executed by a designated electronic device, which can be a server, a portable terminal, or other form. This electronic device contains memory modules, the specific number of which is not limited. For example, the electronic device could be a central controller. This embodiment does not limit the specific types of current wind speed and current wind direction angle; for example, the current wind speed and current wind direction angle in this embodiment could be the height of the rotor sail. The horizontal wind speed and wind direction angle are measured at the location; or, in this embodiment, the current wind speed and current wind direction angle can be obtained by averaging the wind speed and wind direction at all altitude levels within the rotor sail height. The future time lead in this embodiment is the time required for the wind to travel from the lidar detection point to the rotor sail position.

[0071] It should be further noted that, based on any of the above embodiments, the determination of the future time lead corresponding to the current moment based on the current wind speed and current wind direction angle can include:

[0072] S1011, determine the equivalent wind speed and equivalent wind direction angle based on the current wind speed and the current wind direction angle; wherein, the equivalent wind speed is the wind speed obtained by averaging the wind speeds of all height layers within the preset height of the rotor sail, and the equivalent wind direction angle is the wind direction obtained by averaging the wind direction angles of all height layers within the preset height of the rotor sail.

[0073] S1012, determine the future time lead based on equivalent wind speed and equivalent wind direction angle.

[0074] It is understandable that the rotor sail is a three-dimensional structure with a certain height H, and the incoming wind may experience wind shear in the vertical direction (wind speed varies with height). Therefore, using the wind speed at a single height cannot represent the overall effect. LiDAR can simultaneously measure horizontal wind speeds at multiple heights. Because its wind sweep surface is equal at all height levels, it can average the wind speeds and directions at all height levels within the rotor sail's height H to obtain the equivalent wind speed. Equivalent wind direction . ;in, The number of effective wind height layers provided by the lidar within the current scanning cycle. At height The horizontal wind speed measured at the location. At height The horizontal wind direction is measured at the location. The central controller calculates the equivalent wind speed from the wind speed at different altitude levels using lidar. and equivalent wind direction angle Simultaneously, the bow direction was obtained from the sensor array. Speed Calculating the time lead (Δt) is crucial for implementing feedforward control; it is the time required for the wind to travel from the lidar detection point to the rotor sail position. ;in: The longitudinal distance (along the hull direction) between the lidar and the rotor sail is a known fixed value. The current apparent wind speed (i.e., the current wind speed) can be obtained by vector synthesis of the free-flowing wind (current wind speed and current wind direction angle) and the ship's speed. The specific calculation formula is as follows: ;in, For equivalent wind speed, For equivalent wind direction angle, The current ship speed is given. This embodiment provides a specific method for determining the lead time in the future. Since it is based on equivalent wind speed and equivalent wind direction angle, the accuracy of determining the lead time in the future can be improved.

[0075] It should be further explained that, based on any of the above embodiments, the determination of the future time lead corresponding to the current moment based on the current wind speed and current wind direction angle can include: obtaining the longitudinal distance between the lidar and the rotor sail along the hull direction; determining the wind speed estimate based on ship status data, the current wind speed, and the current wind direction angle; and determining the future time lead based on the wind speed estimate and the longitudinal distance. The ship status data in this embodiment can include bow heading, speed, geographical location, and roll / pitch angles, etc. The current wind speed and current wind direction angle in this embodiment can be the wind speed and risk angle at a certain height of the rotor sail, or it can be the equivalent wind speed and equivalent risk angle. The estimated current apparent wind speed in this embodiment can be obtained by vector synthesis of the free-flowing wind and the ship's speed, and the specific calculation formula is as follows: ;in, For equivalent wind speed, For equivalent wind direction angle, The current ship speed is used. This embodiment can determine the future time lead based on wind speed estimates and longitudinal distance, thereby improving the accuracy of future time lead determination.

[0076] S102, based on the future time lead, current wind speed and current wind direction angle, a prediction is made to obtain the predicted wind speed and predicted wind direction angle for the future time; where the future time is determined based on the current time and the future time lead.

[0077] This embodiment does not limit the specific methods for making predictions to obtain the predicted wind speed and wind direction angle. For example, this embodiment can make predictions based on a trained machine learning model, or it can perform linear extrapolation based on wind speed time series data composed of the current wind speed and historical wind speeds, and wind direction angle time series data composed of the current wind direction angle and historical wind direction angles, to determine the predicted wind speed and wind direction angle. Linear extrapolation means assuming that the wind field changes uniformly over a recent period and extending this uniform change pattern to the future, thereby obtaining the predicted value. In this embodiment, based on the calculated future time lead, linear extrapolation is performed on the wind field time series data composed of the current wind speed and current wind direction angle (wind field time series data refers to the current wind speed time series data and the current wind direction angle time series data in the time dimension) to predict the wind speed and wind direction angle. The predicted wind speed and predicted wind direction angle will be applied to the rotor sail position at any given time.

[0078] It should be further explained that, based on any of the above embodiments, the above-mentioned prediction of future wind speed and wind direction angle based on future time lead, current wind speed, and current wind direction angle can include:

[0079] S1021, Based on the wind speed and wind direction angle at the current moment, and the wind speed and wind direction angle at the previous sampling moment, determine the rate of change of wind speed and the rate of change of wind direction.

[0080] S1022 After performing angle circling processing on the wind speed change rate and wind direction change rate, prediction is made based on the processed wind speed change rate, processed wind direction change rate and future time lead, to obtain the predicted wind speed and initial predicted wind direction angle, and the initial predicted wind direction angle is normalized to obtain the predicted wind direction angle; wherein, the angle circling processing can eliminate the numerical jump caused by 0° and 360°.

[0081] This embodiment can be based on the calculated Future time lead time, based on the acquired wind field time series data (wind field time series data refers to the equivalent wind speed and equivalent wind direction sequence data in the time dimension), the wind speed and direction at the current moment are... and The wind speed and direction at the previous moment were and (And so on) Perform linear extrapolation to predict in The equivalent wind conditions acting on the rotor sail position at any given time are denoted as . and The calculation steps are as follows:

[0082] (1) Read the equivalent wind speed at the current time t and the previous sampling time t-δt. , and equivalent wind direction , , where δt is the sampling period of the lidar (4Hz).

[0083] (2) Calculate the rate of change of wind speed and wind direction: ;

[0084] .

[0085] It should be noted that for calculating the rate of change of wind direction angle, angle circumference processing is required to ensure numerical continuity. Angle circumference processing means that the circumferential periodicity of the wind direction angle must be addressed when calculating the rate of change (i.e., 0° and 360° represent the same direction). Without this special processing, directly subtracting the original angle value will result in a rate of change that is very large but physically incorrect when the angle crosses the 0° / 360° boundary, leading to prediction failure. The specific steps are as follows:

[0086] First, calculate the physically correct change in angle. : Among them, the angle difference function Defined as:

[0087] ;

[0088] This function ensures the output value Always in Interval, representing from arrive The shortest rotation angle, whose symbol indicates the direction of rotation.

[0089] Then, the rate of change is calculated: ;in The sampling period.

[0090] (3) Perform linear extrapolation: Based on the rate of change and the future time lead Δt, predict the equivalent wind conditions at time t+Δt:

[0091] ;

[0092] .

[0093] (4) Normalized wind direction angle: The predicted wind direction angle is normalized. The standard range is defined as 0° to 360°. This embodiment provides a specific method for determining the predicted wind speed and predicted wind direction angle, improving the accuracy of these determinations.

[0094] S103, based on the predicted wind speed and predicted wind direction angle, uses the ship hull wind field disturbance model to determine the predicted local wind speed and predicted local wind direction angle corresponding to the predicted wind speed and predicted wind direction angle, which act on the rotor sail installation position.

[0095] The hull wind field disturbance model in this embodiment is used to map the predicted wind speed and predicted wind direction angle to the local wind speed and local wind direction angle acting on the rotor sail installation location. It is understood that because the ship's superstructure (such as the bridge and deckhouse) obstructs and turbulents the wind, directly using the free-flowing wind for calculations will introduce errors. Therefore, this invention introduces a hull wind field disturbance model, whose function is to map the free-flowing wind conditions to the equivalent local wind conditions acting on the rotor sail installation location. This model is pre-established through computational fluid dynamics (CFD) simulation or wind tunnel testing and implemented in the central controller in the following form: for example, using the equivalent wind direction angle... As input, the system directly outputs the corresponding wind speed attenuation coefficient by querying a pre-stored 3D data table. and wind deflection angle Then through the formula and The equivalent local wind conditions are calculated. The input to this model is the free-flow wind direction angle. The output, along with the ship's superstructure geometry, is the wind speed attenuation coefficient. and wind deflection angle The controller will predict the equivalent wind. and Input the model and calculate the result. The equivalent local wind speed acting at the rotor sail at all times and equivalent local wind direction angle : ; .

[0096] It should be further explained that, based on any of the above embodiments, the determination of the predicted local wind speed and predicted local wind direction angle corresponding to the predicted wind speed and predicted wind direction angle using the ship's wind field disturbance model may include:

[0097] S1031, based on the current wind speed, current wind direction angle and the geometric information corresponding to the ship's superstructure, the wind speed attenuation coefficient and wind direction deflection angle are obtained using the ship's wind field disturbance model;

[0098] S1032, based on the wind speed attenuation coefficient and wind direction deflection angle, as well as the predicted wind speed and predicted wind direction angle, determines the predicted local wind speed and predicted local wind direction angle.

[0099] In this embodiment, the input is the free-flowing wind direction angle. The output, along with the ship's superstructure geometry, is the wind speed attenuation coefficient. and wind deflection angle The formulas for determining the predicted local wind speed and predicted local wind direction angle in this embodiment are as follows: ;in, To predict local wind speed, To predict local wind direction angle.

[0100] S104, based on the predicted local wind speed and predicted local wind direction angle, uses the thrust optimal function to obtain the optimal target angle of attack and the optimal target speed ratio, and obtains the target speed command and the target rotation direction command based on the optimal target angle of attack and the optimal target speed ratio.

[0101] In this embodiment, the objective of the thrust optimization function is no longer simply tracking the wind direction, but rather achieving thrust optimization. For example: 1) Define the objective function: maximizing the effective thrust in the ship's forward direction or minimizing the total load on the main engine. 2) Query the aerodynamic performance map: The central controller stores the rotor sail aerodynamic performance map obtained through wind tunnel testing. This map establishes the functional relationship between the thrust coefficient, angle of attack, and speed ratio. 3) Solve for the optimal command: Using the predicted local wind speed and predicted local wind direction as inputs, a genetic optimization algorithm is used to find the target angle of attack and target speed ratio that optimize the objective function.

[0102] It should be further explained that, based on any of the above embodiments, the above-mentioned method of obtaining the optimal target angle of attack and the optimal target speed ratio using the thrust optimization function based on the predicted local wind speed and predicted local wind direction angle, and obtaining the target speed command and target rotation direction command based on the optimal target angle of attack and the optimal target speed ratio, may include:

[0103] S1041 uses the maximization of effective thrust in the direction of the ship's forward movement or the minimization of the total load on the main engine as the thrust optimization function; where effective thrust is the force in the direction of forward movement.

[0104] S1042, based on aerodynamic performance maps, predicted local wind speed and predicted local wind direction angle, uses a genetic optimization algorithm to find the optimal target angle of attack and the optimal target speed ratio that makes the thrust optimal function optimal.

[0105] This embodiment aims to maximize the effective thrust in the ship's forward direction or minimize the total load on the main engine. Aerodynamic performance data is retrieved: the central controller stores aerodynamic performance data of the rotor sail obtained through wind tunnel testing. This data establishes the thrust coefficient... With angle of attack and speed ratio Functional relationship Among them, the speed ratio , The rotor angular velocity, This is the rotor diameter.

[0106] by and Using the input as the target angle of attack, a genetic optimization algorithm is used to find the target angle of attack that optimizes the objective function. Ratio to target speed This embodiment provides a specific method for determining the optimal target angle of attack and the optimal target speed ratio, improving the accuracy of these determinations.

[0107] It should be further explained that, based on any of the above embodiments, the above-described method of obtaining the optimal target angle of attack and optimal target speed ratio using the thrust optimization function based on the predicted local wind speed and predicted local wind direction angle, and obtaining the target speed command and target rotation direction command based on the optimal target angle of attack and optimal target speed ratio, may include: determining the target speed command based on the optimal target speed ratio, the predicted local wind speed, and the rotor diameter; and determining the target rotation direction command based on the predicted local wind direction angle and the optimal target angle of attack. In this embodiment, the target speed command... Target rotation direction command :according to and This is determined to ensure that the generated thrust direction is directed forward of the bow. This embodiment provides a detailed process for determining the target speed command and the target rotation direction command, improving the accuracy of these determinations.

[0108] S105 controls the rotor sail based on the target speed command and the target rotation direction command.

[0109] This embodiment can calculate the target speed command within the current control cycle t. and target rotation direction command The signal is sent in advance to the servo drive system of the rotor sail. The drive motor of the rotor sail begins to adjust to ensure that... At the time (i.e. when the predicted wind conditions arrive), the rotor sail's speed and direction have reached or are very close to the commanded state.

[0110] An embodiment of the present invention provides a rotor sail control method, which may include: S101, determining the future time advance corresponding to the current moment based on the current wind speed and the current wind direction angle; S102, predicting the predicted wind speed and predicted wind direction angle at the future moment based on the future time advance, the current wind speed, and the current wind direction angle; wherein, the future moment is a moment determined based on the current moment and the future time advance; S103, determining the predicted local wind speed and predicted local wind direction angle acting on the rotor sail installation position based on the predicted wind speed and predicted wind direction angle using a ship hull wind field disturbance model; S104, obtaining the optimal target angle of attack and the optimal target speed ratio based on the predicted local wind speed and predicted local wind direction angle using a thrust optimization function, and obtaining the target speed command and the target rotation direction command based on the optimal target angle of attack and the optimal target speed ratio; S105, controlling the rotor sail based on the target speed command and the target rotation direction command. Compared to existing rotor sail feedback control technologies, which only respond after wind conditions change, causing the rotor sail to operate suboptimally for extended periods and constantly chase wind shifts, severely impacting energy efficiency, this invention overcomes the problems of response lag, low energy efficiency, large thrust fluctuations, and safety hazards inherent in these technologies. By providing a rotor sail speed and direction feedforward control method based on wind field prediction, it achieves a shift from passive response to active control, thereby maximizing energy efficiency and ensuring stable and safe ship operation.

[0111] Prior to this invention, the closest existing technology to this invention mainly came from the feedback control system of ship rotor sails. This system represented the level of technology achieved in the field of rotor sail control prior to this invention. It attempted to solve the problems of wind energy utilization efficiency and control response, but had not yet introduced the feedforward control concept based on forward wind field perception.

[0112] The existing control method mainly includes the following steps:

[0113] (1) Measure the current wind conditions and ship status: Obtain the current apparent wind speed, wind direction, ship speed, and heading through local sensors.

[0114] (2) Calculate the current apparent wind vector.

[0115] (3) Look up or calculate based on a simple thrust model: Based on the current wind vector, look up the preset rotor sail performance table to obtain an initial speed and direction setting value.

[0116] (4) Actuator action: The rotor sail drive system adjusts to the target state according to the command.

[0117] (5) Delay waiting for the system to stabilize.

[0118] (6) Measure the wind conditions and ship status again (the wind conditions may have changed).

[0119] (7) Calculate the new apparent wind vector.

[0120] (8) Evaluate the control effect and make fine adjustments (if the wind conditions change and the thrust is not ideal, return to step 3 for fine adjustments; if the effect is acceptable, maintain the current state and continue to monitor).

[0121] The above cycle clearly demonstrates its passive response and inherent hysteresis.

[0122] Or follow these steps:

[0123] Step 1: Real-time data collection.

[0124] The system continuously measures the apparent wind speed and direction at the current location using sensors installed on or near the top of the rotor sail. Simultaneously, it collects real-time information such as the ship's heading and speed.

[0125] Step 2: Current wind vector calculation and thrust demand analysis.

[0126] The controller combines the measured apparent wind data with the ship's motion data to calculate the current true wind vector. Then, based on the ship's navigation objectives (such as maintaining course and maximizing fuel efficiency), it determines the desired thrust direction and approximate magnitude.

[0127] Step 3: Instruction calculation based on static model.

[0128] The controller internally stores a lookup table of rotor sail static performance obtained through wind tunnel testing or CFD calculations. This table establishes the correspondence between rotor sail rotational speed and the generated thrust at specific wind speeds and angles. Based on the currently calculated actual wind conditions, the controller consults this performance table to find a corresponding theoretical target rotational speed and determines the rotation direction according to the wind direction.

[0129] Step 4: Execute control commands.

[0130] The calculated target speed and direction commands are sent to the electric drive system of the rotor sail, which then drives the rotor sail to begin adjustment.

[0131] Step 5: Delayed response and effect evaluation.

[0132] Because the rotor sail has mechanical inertia, its speed and direction adjustment require a certain amount of time. During this period, wind conditions may have changed. When the rotor sail reaches the commanded state, it operates based on the wind conditions of the past moment. The system then measures the wind conditions and ship status again to evaluate the thrust effect. If the effect is unsatisfactory due to changes in wind conditions (e.g., the thrust direction deviates from the expected direction), the controller will passively initiate a new adjustment cycle, query the performance table again, and issue new commands.

[0133] Through a detailed analysis of the above-mentioned closest existing technical solution, several inherent defects can be clearly seen, which are also the core technical problems that this invention aims to solve:

[0134] 1. Response lag: This is an inherent drawback of feedback control systems. From measuring wind conditions, calculating, executing, to producing results, there is a significant time delay throughout the entire process. The system always begins to respond after the wind conditions change, causing the rotor sail to operate in a suboptimal state for extended periods, constantly chasing wind changes, severely impacting energy efficiency.

[0135] 2. Thrust fluctuations and poor stability: Especially in environments with frequently changing wind conditions (such as gusts and turbulence), delayed control can lead to severe fluctuations in rotor sail thrust. This not only significantly reduces energy efficiency but also causes fluctuations in ship speed, affecting sailing stability and comfort, and even posing a challenge to ship maneuverability.

[0136] 3. Unforeseen safety risks: The system only reacts to the current wind conditions and cannot detect extreme wind conditions that may exist ahead of the ship (such as strong gusts that could cause excessive heeling). By the time strong winds act on the rotor sail and are detected by the sensors, it may be too late to take safety measures (such as slowing down), posing a certain safety hazard.

[0137] 4. Severely affected by ship hull disturbance: The local sensors measure the local wind field that has been severely disturbed by the ship's superstructure, not the free flow. This introduces inherent errors in thrust calculations based on these measurements, limiting control accuracy.

[0138] For a clearer understanding of this invention, please refer to the following details. Figure 3 , Figure 3 A flowchart illustrating a rotor sail control method provided in this embodiment of the invention may specifically include:

[0139] Step 1: Obtain wind field data and ship status data; where wind field data includes equivalent wind speed and equivalent wind direction angle, and ship status data includes ship heading, speed, geographical location, roll angle and pitch angle.

[0140] The central controller is the main body that executes the method of the present invention.

[0141] Step 2: Based on wind field data and ship status data, determine the future time lead required for wind to travel from the lidar detection point to the rotor sail position.

[0142] Step 3: Based on the future time lead, predict the acquired wind field data to obtain the future time. The predicted wind speed and predicted wind direction angle will be applied to the rotor sail position.

[0143] Step 4: Based on the predicted wind speed and predicted wind direction angle, use the ship's wind field disturbance model to determine the predicted local wind speed and predicted local wind direction angle corresponding to the predicted wind speed and predicted wind direction angle, which are applied to the rotor sail installation position.

[0144] Since the input wind speed and wind direction angle are equivalent, the predicted local wind speed and predicted local wind direction angle in this embodiment are also equivalent.

[0145] Step 5: Based on the predicted local wind speed and predicted local wind direction angle, the optimal target angle of attack and the optimal target speed ratio are obtained using the thrust optimization function.

[0146] Step 6: Obtain the target speed command and target rotation direction command based on the optimal target angle of attack and the optimal target speed ratio.

[0147] Step 7: Send the target speed command and target rotation direction command to the rotor sail's servo drive system to achieve the target state at a future time.

[0148] This embodiment acquires wind field data and ship status data, calculates the time lead (Δt), predicts the free-flowing wind at time t+Δt based on the time lead, calculates the equivalent local wind speed (u_local) and wind direction (β_local) using the ship's wind field disturbance model, performs thrust optimization calculations, and obtains the target rotational speed (ω_cmd) and direction (Dir_cmd); it then issues feedforward control commands to the rotor sail drive system; and the rotor sail executes the action. This invention constructs a closed-loop feedforward control system by integrating a forward-mounted wind-measuring lidar, a central controller, and the rotor sail actuator. It also introduces a ship's wind field disturbance model to accurately map the free-flowing wind into an equivalent local wind acting on the rotor sail position; and it uses thrust vector optimization (such as minimizing effective thrust or total main engine load) as the direct control objective, rather than simply tracking the wind direction. Therefore, the beneficial effects of this invention are:

[0149] Advantage 1: Because this invention uses a forward-facing lidar to detect the wind field and calculate the timing advance, the control system can issue control commands before wind changes actually affect the rotor sail. This feedforward mechanism fundamentally eliminates the inherent lag caused by measurement and execution in traditional feedback control, ensuring that the rotor sail has already adjusted to or is close to its optimal operating state by the time the predicted wind changes reach it. Therefore, the rotor sail can maintain its high-efficiency range on its aerodynamic performance spectrum for most of its operating time, greatly reducing energy capture losses caused by control lag. Over long-term operation, this ultimately leads to a significant improvement in energy efficiency.

[0150] Advantage Two: This invention, through a feedforward-feedback composite control mechanism, can pre-compensate for upcoming dynamic wind conditions such as gusts and turbulence. The control system can instruct the rotor sail to adjust its speed smoothly and in advance, thereby effectively counteracting predicted wind disturbances. This proactive and smooth adjustment makes the rotor sail's thrust output curve more stable, overcoming the shortcomings of traditional control systems where thrust fluctuates drastically with natural wind. Stable thrust output means that a continuous and stable auxiliary propulsion force is transmitted to the hull, which not only significantly improves the stability and comfort of the ship's navigation but also reduces frequent interference with the ship's autopilot system and reduces the compensation operations performed by the steering gear to counteract thrust fluctuations, thereby further saving energy.

[0151] The rotor sail control device provided in the embodiments of the present invention will be described below. The rotor sail control device described below can be referred to in correspondence with the rotor sail control method described above.

[0152] Please refer to the details. Figure 4 , Figure 4 A schematic diagram of a rotor sail control device provided in an embodiment of the present invention may include:

[0153] The future time lead determination module 100 is used to determine the future time lead corresponding to the current moment based on the current wind speed and the current wind direction angle.

[0154] The wind speed and wind direction angle prediction module 200 is used to predict the wind speed and wind direction angle at a future time based on the future time advance, the current wind speed and the current wind direction angle; wherein, the future time is a time determined based on the current time and the future time advance.

[0155] The module 300 for determining the predicted local wind speed and wind direction angle is used to determine the predicted local wind speed and predicted local wind direction angle corresponding to the predicted wind speed and predicted wind direction angle, which are applied to the rotor sail installation position, based on the predicted wind speed and the predicted wind direction angle using a ship hull wind field disturbance model.

[0156] The instruction determination module 400 is used to obtain the optimal target angle of attack and the optimal target speed ratio based on the predicted local wind speed and the predicted local wind direction angle, using the thrust optimization function, and to obtain the target speed command and the target rotation direction command based on the optimal target angle of attack and the optimal target speed ratio.

[0157] The rotor sail control module 500 is used to control the rotor sail based on the target speed command and the target rotation direction command.

[0158] Furthermore, based on any of the above embodiments, the future time lead determination module 100 may include:

[0159] The equivalent wind speed and equivalent wind direction angle determination unit is used to determine the equivalent wind speed and equivalent wind direction angle based on the current wind speed and the current wind direction angle; wherein, the equivalent wind speed is the wind speed obtained by averaging the wind speeds of all height layers within the preset height of the rotor sail, and the equivalent wind direction angle is the wind direction obtained by averaging the wind direction angles of all height layers within the preset height of the rotor sail.

[0160] The future time lead determination unit is used to determine the future time lead based on the equivalent wind speed and the equivalent wind direction angle.

[0161] Furthermore, based on any of the above embodiments, the future time lead determination module 100 may include:

[0162] The longitudinal distance acquisition unit is used to acquire the longitudinal distance between the lidar and the rotor sail along the hull direction;

[0163] The wind speed estimation unit is used to determine the wind speed estimation value based on the ship status data, the current wind speed, and the current wind direction angle.

[0164] The wind speed estimate-based future time advance unit is used to determine the future time advance based on the wind speed estimate and the longitudinal distance.

[0165] Furthermore, based on any of the above embodiments, the predicted wind speed and wind direction angle determination module 200 may include:

[0166] The wind speed change rate and wind direction change rate determination unit is used to determine the wind speed change rate and wind direction change rate based on the wind speed and wind direction angle at the current moment and the wind speed and wind direction angle at the previous sampling moment.

[0167] The predicted wind speed and wind direction angle determination unit is used to perform angle circling processing on the wind speed change rate and the wind direction change rate, and then make a prediction based on the processed wind speed change rate, the processed wind direction change rate, and the future time advance to obtain the predicted wind speed and the initial predicted wind direction angle. The initial predicted wind direction angle is then normalized to obtain the predicted wind direction angle. The angle circling processing can eliminate the numerical jump caused by the difference between 0° and 360°.

[0168] Furthermore, based on any of the above embodiments, the module 300 for predicting local wind speed and wind direction angle may include:

[0169] The wind speed attenuation coefficient and wind direction deflection angle determination unit is used to obtain the wind speed attenuation coefficient and wind direction deflection angle based on the current wind speed, the current wind direction angle and the geometric information corresponding to the ship's superstructure, using the ship's wind field disturbance model;

[0170] The unit for determining the predicted local wind speed and the predicted local wind direction angle is used to determine the predicted local wind speed and the predicted local wind direction angle based on the wind speed attenuation coefficient, the wind direction deflection angle, the predicted wind speed, and the predicted wind direction angle.

[0171] Furthermore, based on any of the above embodiments, the instruction determination module 400 may include:

[0172] The thrust optimal function determination unit is used to maximize the effective thrust in the ship's forward direction or minimize the total load of the main engine as the thrust optimal function; wherein, the effective thrust is the force in the forward direction;

[0173] The angle of attack and speed ratio determination unit is used to optimize the optimal target angle of attack and the optimal target speed ratio by using a genetic optimization algorithm based on the aerodynamic performance map, the predicted local wind speed and the predicted local wind direction angle, so as to obtain the optimal target angle of attack and the optimal target speed ratio that make the thrust optimal function optimal.

[0174] Furthermore, based on any of the above embodiments, the instruction determination module 400 may include:

[0175] The target rotation speed command determination unit is used to determine the target rotation speed command based on the optimal target rotation speed ratio, the predicted local wind speed, and the rotor diameter.

[0176] The target rotation direction command determination unit is used to determine the target rotation direction command based on the predicted local wind direction angle and the optimal target angle of attack.

[0177] It should be noted that the order of the modules and units in the above-mentioned rotor sail control device can be changed without affecting the logic.

[0178] An embodiment of the present invention provides a rotor sail control device, which may include: a future time advance determination module 100, used to determine the future time advance corresponding to the current moment based on the current wind speed and the current wind direction angle; a predicted wind speed and wind direction angle determination module 200, used to predict the predicted wind speed and predicted wind direction angle at a future moment based on the future time advance, the current wind speed, and the current wind direction angle; wherein, the future moment is a moment determined based on the current moment and the future time advance; and a predicted local wind speed and wind direction angle determination module 300, used to determine the predicted local wind speed and wind direction angle based on the predicted wind speed and the predicted wind direction angle. The wind direction angle measurement utilizes a ship hull wind field disturbance model to determine the predicted local wind speed and predicted local wind direction angle corresponding to the predicted wind speed and predicted local wind direction angle, acting on the rotor sail installation position. The command determination module 400, based on the predicted local wind speed and predicted local wind direction angle, uses an optimal thrust function to obtain the optimal target angle of attack and optimal target speed ratio, and obtains the target speed command and target rotation direction command based on the optimal target angle of attack and optimal target speed ratio. The rotor sail control module 500 controls the rotor sail based on the target speed command and the target rotation direction command. Compared to existing rotor sail feedback control technologies that always respond only after wind conditions change, resulting in the rotor sail being in a suboptimal working state for extended periods, chasing wind changes and severely impacting energy efficiency, this invention overcomes the problems of response lag, low energy efficiency, large thrust fluctuations, and safety hazards inherent in existing rotor sail feedback control technologies. By providing a rotor sail speed and direction feedforward control method based on wind field prediction, a shift from passive response to active control is achieved, thereby maximizing energy efficiency and ensuring stable and safe ship operation.

[0179] The following describes a rotor sail control device provided by an embodiment of the present invention. The rotor sail control device described below can be referred to in correspondence with the rotor sail control method described above.

[0180] Please refer to Figure 5 , Figure 5 A schematic diagram of a rotor sail control device provided in an embodiment of the present invention may include:

[0181] Memory 10 is used to store computer programs;

[0182] Processor 20 is used to execute computer programs to implement the rotor sail control method described above.

[0183] The memory 10, processor 20, and communication interface 30 all communicate with each other through the communication bus 40.

[0184] In this embodiment of the invention, the memory 10 is used to store one or more programs. The programs may include program code, which includes computer operation instructions. In this embodiment of the invention, the memory 10 may store programs for implementing the following functions:

[0185] Determine the future time lead corresponding to the current moment based on the current wind speed and current wind direction angle;

[0186] Based on the future time lead, current wind speed, and current wind direction angle, the predicted wind speed and predicted wind direction angle for the future time are obtained; where the future time is determined based on the current time and the future time lead.

[0187] Based on the predicted wind speed and predicted wind direction angle, the predicted local wind speed and predicted local wind direction angle acting on the rotor sail installation position are determined using the ship hull wind field disturbance model.

[0188] Based on the predicted local wind speed and predicted local wind direction angle, the optimal target angle of attack and the optimal target speed ratio are obtained using the thrust optimal function. Based on the optimal target angle of attack and the optimal target speed ratio, the target speed command and the target rotation direction command are obtained.

[0189] The rotor sail is controlled based on the target speed command and the target rotation direction command.

[0190] In one possible implementation, the memory 10 may include a program storage area and a data storage area, wherein the program storage area may store the operating system and applications required for at least one function; and the data storage area may store data created during use.

[0191] Furthermore, memory 10 may include read-only memory and random access memory, providing instructions and data to the processor. A portion of the memory may also include NVRAM. The memory stores operating systems and operating instructions, executable modules, or data structures, or subsets thereof, or extended sets thereof, wherein the operating instructions may include various operating instructions for implementing various operations. The operating system may include various system programs for implementing various basic tasks and handling hardware-based tasks.

[0192] Processor 20 can be a central processing unit (CPU), an application-specific integrated circuit, a digital signal processor, a field-programmable gate array, or other programmable logic device. Processor 20 can be a microprocessor or any conventional processor. Processor 20 can call programs stored in memory 10.

[0193] The communication interface 30 can be an interface for the communication module, used to connect with other devices or systems.

[0194] Of course, it should be noted that, Figure 5 The structure shown does not constitute a limitation on the rotor sail control device in the embodiments of the present invention. In practical applications, the rotor sail control device may include more than Figure 5 More or fewer components as shown, or combinations of certain components.

[0195] The computer-readable storage medium provided in the embodiments of the present invention is described below. The computer-readable storage medium described below can be referred to in correspondence with the rotor sail control method described above.

[0196] The present invention also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the above-described rotor sail control method.

[0197] The computer-readable storage medium may include various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0198] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to in the method section.

[0199] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0200] Finally, it should be noted that in this document, relationships such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0201] The present invention provides a detailed description of a rotor sail control method, apparatus, device, and computer-readable storage medium. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, those skilled in the art will recognize that, based on the ideas of the present invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A rotor sail control method, characterized in that, include: Determine the future time lead corresponding to the current moment based on the current wind speed and current wind direction angle; Based on the future time lead, the current wind speed, and the current wind direction angle, a prediction is made to obtain the predicted wind speed and predicted wind direction angle for the future time; wherein, the future time is a time determined based on the current time and the future time lead. Based on the predicted wind speed and the predicted wind direction angle, the predicted local wind speed and predicted local wind direction angle corresponding to the predicted wind speed and predicted wind direction angle, acting on the rotor sail installation position, are determined using the ship hull wind field disturbance model. Based on the predicted local wind speed and the predicted local wind direction angle, the optimal target angle of attack and the optimal target speed ratio are obtained using the thrust optimization function, and the target speed command and the target rotation direction command are obtained based on the optimal target angle of attack and the optimal target speed ratio. The rotor sail is controlled based on the target speed command and the target rotation direction command; Among them, determining the future time lead corresponding to the current moment based on the current wind speed and current wind direction angle includes: Obtain the longitudinal distance between the lidar and the rotor sail along the hull direction; The wind speed estimate is determined based on the ship status data, the current wind speed, and the current wind direction angle; The future time lead is determined based on the estimated wind speed and the longitudinal distance.

2. The rotor sail control method according to claim 1, characterized in that, Determining the wind speed estimate based on ship status data, the current wind speed, and the current wind direction angle includes: The equivalent wind speed and equivalent wind direction angle are determined based on the current wind speed and the current wind direction angle; wherein, the equivalent wind speed is the wind speed obtained by averaging the wind speeds of all height layers within the preset height of the rotor sail, and the equivalent wind direction angle is the wind direction obtained by averaging the wind direction angles of all height layers within the preset height of the rotor sail. The wind speed estimate is determined based on the ship status data, the equivalent wind speed, and the equivalent wind direction angle.

3. The rotor sail control method according to any one of claims 1 to 2, characterized in that, Based on the future time lead, the current wind speed, and the current wind direction angle, a prediction is made to obtain the predicted wind speed and predicted wind direction angle for the future time, including: Based on the wind speed and wind direction angle at the current moment, and the wind speed and wind direction angle at the previous sampling moment, determine the rate of change of wind speed and the rate of change of wind direction. After performing angle-based circling processing on the wind speed change rate and the wind direction change rate, a prediction is made based on the processed wind speed change rate, the processed wind direction change rate, and the future time advance to obtain the predicted wind speed and the initial predicted wind direction angle. The initial predicted wind direction angle is then normalized to obtain the predicted wind direction angle. The angle-based circling processing can eliminate numerical jumps caused at 0° and 360°.

4. The rotor sail control method according to claim 1, characterized in that, Based on the predicted wind speed and the predicted wind direction angle, using a ship hull wind field disturbance model, determine the predicted local wind speed and predicted local wind direction angle corresponding to the predicted wind speed and predicted wind direction angle, acting on the rotor sail installation position, including: Based on the current wind speed, the current wind direction angle, and the geometric information corresponding to the ship's superstructure, the wind speed attenuation coefficient and wind direction deflection angle are obtained using the ship's hull wind field disturbance model. Based on the wind speed attenuation coefficient and the wind direction deflection angle, as well as the predicted wind speed and the predicted wind direction angle, the predicted local wind speed and the predicted local wind direction angle are determined.

5. The rotor sail control method according to claim 1, characterized in that, Based on the predicted local wind speed and the predicted local wind direction angle, the optimal target angle of attack and the optimal target speed ratio are obtained using the thrust optimization function. Based on the optimal target angle of attack and the optimal target speed ratio, the target speed command and the target rotation direction command are obtained, including: The optimal thrust function is defined as maximizing the effective thrust in the direction of the ship's forward movement or minimizing the total load on the main engine; wherein the effective thrust is the force in the direction of forward movement. Based on the aerodynamic performance map, the predicted local wind speed, and the predicted local wind direction angle, a genetic optimization algorithm is used to find the optimal target angle of attack and the optimal target speed ratio that make the thrust optimal function optimal.

6. The rotor sail control method according to claim 1, characterized in that, Based on the predicted local wind speed and the predicted local wind direction angle, the optimal target angle of attack and the optimal target speed ratio are obtained using the thrust optimization function. Based on the optimal target angle of attack and the optimal target speed ratio, the target speed command and the target rotation direction command are obtained, including: The target speed command is determined based on the optimal target speed ratio, the predicted local wind speed, and the rotor diameter. The target rotation direction command is determined based on the predicted local wind direction angle and the optimal target angle of attack.

7. A rotor sail control device, characterized in that, include: The future time lead determination module is used to determine the future time lead corresponding to the current moment based on the current wind speed and current wind direction angle. The predicted wind speed and wind direction angle determination module is used to predict the predicted wind speed and predicted wind direction angle at a future time based on the future time advance, the current wind speed, and the current wind direction angle; wherein, the future time is a time determined based on the current time and the future time advance. The module for determining the predicted local wind speed and wind direction angle is used to determine the predicted local wind speed and predicted local wind direction angle corresponding to the predicted wind speed and predicted wind direction angle, and the wind field disturbance model of the ship hull, based on the predicted wind speed and the predicted wind direction angle. The instruction determination module is used to obtain the optimal target angle of attack and the optimal target speed ratio based on the predicted local wind speed and the predicted local wind direction angle, using the thrust optimization function, and to obtain the target speed command and the target rotation direction command based on the optimal target angle of attack and the optimal target speed ratio; The rotor sail control module is used to control the rotor sail based on the target speed command and the target rotation direction command; The module for determining future time lead time includes: The longitudinal distance acquisition unit is used to acquire the longitudinal distance between the lidar and the rotor sail along the hull direction; The wind speed estimation unit is used to determine the wind speed estimation value based on the ship status data, the current wind speed, and the current wind direction angle. The wind speed estimate-based future time advance unit is used to determine the future time advance based on the wind speed estimate and the longitudinal distance.

8. A rotor sail control device, characterized in that, include: Memory, used to store computer programs; A processor for executing the computer program to implement the steps of the rotor sail control method as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the rotor sail control method as described in any one of claims 1 to 6.

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