Ship thrust distribution combination selection method, system, equipment, product and medium

Abstract

The invention relates to the field of ship thrust control, and provides a ship thrust distribution combination selection method, system, equipment, product and medium, and the method comprises the steps: obtaining a plane thrust feasible region of a propeller according to the type of the propeller, and carrying out the segmentation to obtain a plane convex region; determining the mounting position of the propeller to obtain a three-axis force set of the planar convex area; a convex plane combination is selected from the plane convex area of the propeller, and a combined three-axis force set is obtained in the convex plane combination through a fast convex hull algorithm and the three-axis force set; a control force instruction is generated, whether the control force instruction is in the combined three-axis force set or not is judged, and a feasible control force instruction is obtained; the method comprises the steps of obtaining a plane convex area serial number corresponding to a feasible control force instruction, calculating a serial number variable quantity according to the plane convex area serial number corresponding to the feasible control force instruction, selecting an optimal instruction from the feasible control force instruction according to the serial number variable quantity, obtaining a control instruction according to the optimal instruction, and controlling a ship through the control instruction.

Description

Technical Field

[0001] This invention relates to the field of ship thrust control technology, and in particular to methods, systems, equipment, products and media for selecting ship thrust distribution combinations. Background Technology

[0002] In marine environments, ships often need to perform various marine operations at specific locations, placing increasingly higher demands on the operation and positioning of the equipment itself. Dynamic positioning systems (DPS) use various onboard sensors to measure the ship's position and heading, and then use computers to perform complex real-time calculations to control the ship's propulsion devices to generate thrust and torque to counteract interference forces caused by the external environment, thus maintaining the ship's target position and heading. The thrust distribution module is a crucial component of the DPS system. Based on the desired thrust and torque provided by the controller module, the thrust distribution module calculates control commands for each propulsion device, such as speed, steering angle, pitch, and rudder angle. Each propulsion device then operates according to these commands, thereby maintaining the ship's target position and heading. The thrust distribution strategy must satisfy two conditions: first, the desired thrust and torque output by the ship's controller must be distributed to each propeller according to a specific method; second, the thrust distribution process must meet the constraints of the propellers, including maximum and minimum force limits, and thrust angle restrictions. The propulsion systems of dynamically positioned vessels include azimuth thrusters, side thrusters, propeller thrusters, waterjet thrusters, etc. Due to the diversity of propulsion system configurations and the presence of various constraints, solving the thrust distribution problem is mostly a nonlinear optimization process with equality and inequality constraints. In this case, it is difficult for the thrust distribution module to obtain the optimal solution that satisfies all kinds of conditions.

[0003] Chinese invention patent CN116909176B, entitled "An Evaluation Method for Thrust Distribution Strategy of a Dynamically Positioned Ship," provides a method that linearly divides the thrust range of each thruster into multiple convex feasible regions and combines different feasible regions of different thrusters to obtain control commands using algorithms such as quadratic programming. The control commands obtained by this method for each thruster are the optimal solutions under the given constraints. However, this method requires solving for each combination, resulting in long computation times and making it difficult to meet engineering requirements. Summary of the Invention

[0004] This invention aims to at least solve one of the technical problems existing in related technologies. To this end, this invention provides a method, system, equipment, product, and medium for selecting ship thrust distribution combinations, enabling the rapid acquisition of ship maneuvering commands with relatively quick response.

[0005] This invention provides a method for selecting a ship thrust distribution combination, comprising: S1: Determine the thruster type, obtain the feasible region of planar thrust based on the thruster type, and divide the feasible region of planar thrust to obtain a planar convex region; S2: Determine the installation position of the thruster, and obtain the triaxial force set of the planar convex region based on the installation position of the thruster; S3: Select a convex plane combination from the planar convex region of the thruster, and obtain a combined triaxial force set from the convex plane combination using the fast convex hull algorithm and the triaxial force set; S4: Generate control force commands, determine whether the control force commands are in the set of combined triaxial forces, and obtain feasible control force commands; S5: Obtain the plane convex region number corresponding to the feasible maneuvering force command, calculate the number change based on the plane convex region number corresponding to the feasible maneuvering force command, select the optimal command from the feasible maneuvering force commands based on the number change, obtain the maneuvering command based on the optimal command, and maneuver the ship through the maneuvering command.

[0006] According to the ship thrust distribution combination selection method provided by the present invention, in step S1, after determining the type of propeller, the operating limitation parameters of the propeller are determined, and the planar thrust feasible domain of the propeller is obtained according to the type of propeller and the operating limitation parameters.

[0007] According to the ship thrust distribution combination selection method provided by the present invention, step S2 further includes: S21: Determine the installation position of the thruster, and obtain the installation position coordinate matrix based on the installation position of the thruster; S22: Determine the endpoint coordinate matrix of the planar convex region, and obtain the triaxial force set based on the installation position coordinate matrix and the endpoint coordinate matrix.

[0008] According to the ship thrust distribution combination selection method provided by the present invention, step S3 further includes: S31: For each thruster, select a planar convex region and select the triaxial force set corresponding to the planar convex region, and combine them to obtain a convex plane combination; S32: Construct multiple combinations of the convex planes to obtain the endpoint point set of all combinations of the convex planes; S33: Obtain the combined triaxial force set based on the endpoint set and the triaxial force set using the fast convex hull algorithm.

[0009] According to the ship thrust distribution combination selection method provided by the present invention, in step S4, the command point of the control force command is obtained, the convex hull vertex of the combined three-axis force set is obtained, the external normal vector is calculated based on the convex hull vertex, and the control force command is determined to be in the combined three-axis force set by the external normal vector and the command point.

[0010] According to the ship thrust distribution combination selection method provided by the present invention, step S5 further includes: S51: Obtain the plane convex region number corresponding to the feasible control force command, retrieve the most recent control command, obtain the plane convex region number corresponding to the most recent control command, and obtain the number change based on the plane convex region number corresponding to the feasible control force command and the plane convex region number corresponding to the most recent control command. S52: Obtain the sequence number change of all the feasible control force commands, and select the feasible control force command with the smallest sequence number change as the optimal command. S53: Convert the optimal command into the control command according to the propeller type, and control the ship using the control command.

[0011] This invention also provides a ship thrust distribution combination selection system, including: Feasible region segmentation module: used to determine the thruster type, obtain the planar thrust feasible region of the thruster based on the thruster type, and segment the planar thrust feasible region to obtain a planar convex region; Triaxial Force Collection Module: Used to determine the thruster installation position and obtain the triaxial force collection of the planar convex region based on the thruster installation position; The combined triaxial force set module includes selecting a convex plane combination from the planar convex region of the thruster, and obtaining a combined triaxial force set from the convex plane combination through the fast convex hull algorithm and the triaxial force set; Feasible control force command module: used to generate control force commands, determine whether the control force command is in the set of combined triaxial forces, and obtain feasible control force commands; Ship maneuvering module: used to obtain the planar convex region number corresponding to the feasible maneuvering force command, calculate the number change based on the planar convex region number corresponding to the feasible maneuvering force command, select the optimal command from the feasible maneuvering force commands based on the number change, obtain the maneuvering command based on the optimal command, and maneuver the ship through the maneuvering command.

[0012] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of any of the above-described ship thrust distribution combination selection methods.

[0013] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the ship thrust distribution combination selection method as described above.

[0014] The present invention also provides a computer program product, the computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions, which, when executed by a computer, enable the computer to perform the steps of any of the above-described ship thrust distribution combination selection methods.

[0015] The above-described one or more technical solutions in the embodiments of the present invention have at least one of the following technical effects: The method, system, equipment, product, and medium for selecting ship thrust distribution combinations provided by this invention can determine a suitable planar convex region based on different thruster types and obtain the set of three-axis forces within that planar convex region. Subsequently, a combined set of three-axis forces is obtained from the convex planar combinations resulting from multiple thruster combinations. This combined set can be used to filter out truly feasible control force commands, avoiding the need to calculate unfeasible control force commands, thus saving computational resources and time. It eliminates the need to solve for all combinations, significantly improving the efficiency of thrust distribution calculations. Furthermore, the variation in the sequence number ensures more consistent execution of control commands and minimizes the range of thruster output changes, preventing frequent and significant changes in thruster power and direction from affecting the ship's navigation stability.

[0016] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in this 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 some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 This is a flowchart illustrating the method for selecting ship thrust distribution combinations provided by the present invention.

[0019] Figure 2 This is a schematic diagram of the feasible region of planar thrust of a channel propeller in the ship thrust distribution combination selection method provided by the present invention.

[0020] Figure 3 This is a schematic diagram of the feasible region of planar thrust for a fully azimuth thruster in the ship thrust distribution combination selection method provided by the present invention.

[0021] Figure 4 This is a schematic diagram of the feasible region of planar thrust of the propeller and rudder propeller in the ship thrust distribution combination selection method provided by the present invention.

[0022] Figure 5This is a schematic diagram of the ship thrust distribution combination selection system provided by the present invention.

[0023] Figure 6 This is a schematic diagram of the structure of the ship thrust distribution combination selection device provided by the present invention.

[0024] Figure label: 100. Feasible domain segmentation module; 200. Three-axis force aggregation module; 300. Combined three-axis force aggregation module; 400. Feasible maneuvering force command module; 500. Ship maneuvering module; 810. Processor; 820. Communication interface; 830. Memory; 840. Communication bus. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention. The following embodiments are used to illustrate this invention but cannot be used to limit the scope of this invention.

[0026] In the description of the embodiments of the present invention, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of the present invention. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0027] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention based on the specific circumstances.

[0028] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0029] The following is combined with Figures 1 to 6 Specific embodiments of the present invention are described below. Figure 1 This is a flowchart illustrating the ship thrust distribution combination selection method provided by the present invention, including: S1: Determine the thruster type, obtain the feasible region of planar thrust based on the thruster type, and divide the feasible region of planar thrust to obtain a planar convex region; Furthermore, the objective of this stage is to obtain the feasible region of planar thrust, and then to delineate the planar convex region. Specifically, in step S1, after determining the thruster type, the operating limitation parameters of the thruster are determined, and the feasible region of planar thrust of the thruster is delineated based on the thruster type and the operating limitation parameters.

[0030] The specific implementation method for the above steps in this embodiment is as follows: First, the type of thruster needs to be determined. Here, thruster types include channel thrusters, azimuth thrusters, and propeller-rudder thrusters. Each type of thruster has its own operational limitations, such as the maximum positive and negative forces, and the angular rotation limits for azimuth thrusters. Then, based on the thruster type and operational limitations, the feasible planar thrust domain of the thruster in the plane is determined. Here, the XY plane is taken as an example. Figure 2 This is a schematic diagram of the feasible region of planar thrust for a channel thruster in the XY plane. Figure 3 This is a schematic diagram of the feasible region of planar thrust for a full-rotation thruster in the XY plane. Figure 4 This is a schematic diagram of the feasible thrust region of the propeller-driven propeller in the XY plane. Here, the plane containing the water surface is defined as the XY plane, where the direction in the same direction as the hull is the X-axis, the direction perpendicular to the hull is the Y-axis, and the Z-axis is perpendicular to the XY plane. By projecting the feasible thrust region of the propeller onto the XY plane, the feasible thrust region in the XY plane can be obtained.

[0031] For a channel propulsion system that enables a ship to move laterally, the feasible region of planar thrust in the XY plane consists of two line segments, the endpoints of which represent the maximum thrust to the left. Minimum thrust to the left Maximum thrust to the right Minimum thrust to the right ,like Figure 2 As shown. For a fully azimuth thruster, the feasible region of planar thrust in the XY plane is a circular ring, with the inner radius being the minimum thrust. The outer ring radius is the maximum thrust. In addition, the areas with restricted angles need to be removed, such as... Figure 3 As shown. For a propeller-driven propeller, the feasible region of planar thrust in the XY plane is a positive sector and a negative line segment, with the endpoint of the negative line segment representing the maximum negative force of the propeller. and negative minimum force The shape of the fan depends on the characteristics of the rudder, where the maximum positive force is... The minimum positive force is ,like Figure 4 As shown.

[0032] Finally, the feasible region of planar thrust is segmented to obtain planar convex regions. Here, for computational convenience, polylines are used instead of arcs to connect the corresponding endpoints, dividing the feasible region of planar thrust into multiple convex regions, thus obtaining planar convex regions. The characteristic of a convex region is that all points on the line segment formed by connecting any two points within the region are within that convex region. In this embodiment, the feasible region of planar thrust of a channel propeller can be divided into two planar convex regions, the feasible region of planar thrust of a azimuth propeller can be divided into five planar convex regions, and the feasible region of planar thrust of a propeller-rudder propeller can be divided into two planar convex regions. A single planar convex region can be represented by a coordinate matrix of the endpoints of a graph, where the endpoints are arranged clockwise.

[0033] S2: Determine the installation position of the thruster, and obtain the triaxial force set of the planar convex region based on the installation position of the thruster; Furthermore, the objective of this stage is to obtain the triaxial force set for the planar convex region. Specifically, step S2 further includes: S21: Determine the installation position of the thruster, and obtain the installation position coordinate matrix based on the installation position of the thruster; S22: Determine the endpoint coordinate matrix of the planar convex region, and obtain the triaxial force set based on the installation position coordinate matrix and the endpoint coordinate matrix.

[0034] The specific implementation method for the above steps in this embodiment is as follows: First, the installation location of the thrusters needs to be determined. Based on the installation location of the thrusters, the coordinate matrix of the installation location of the j-th thruster can be determined. : in, Let j be the lateral coordinate of the j-th thruster. Let be the longitudinal coordinate of the j-th thruster. Since a planar convex region can be represented by the coordinate matrix of the endpoints of the figure, the coordinate matrix of the endpoints of the k-th planar convex region of the j-th thruster can be obtained. Subsequently, based on the installation position coordinate matrix and the endpoint coordinate matrix, the triaxial force set of the k-th planar convex region of the j-th thruster is obtained. : The resulting triaxial force set for each thruster includes all possible outputs of the thruster in the convex region of the plane, and its form is also a convex region.

[0035] S3: Select a convex plane combination from the planar convex region of the thruster, and obtain a combined triaxial force set from the convex plane combination using the fast convex hull algorithm and the triaxial force set; Furthermore, the objective of this stage is to select a combination of convex planes, thereby obtaining a combined triaxial force set. Specifically, step S3 further includes: S31: For each thruster, select a planar convex region and select the triaxial force set corresponding to the planar convex region, and combine them to obtain a convex plane combination; S32: Construct multiple combinations of the convex planes to obtain the endpoint point set of all combinations of the convex planes; S33: Obtain the combined triaxial force set based on the endpoint set and the triaxial force set using the fast convex hull algorithm.

[0036] The specific implementation method for the above steps in this embodiment is as follows: First, for each thruster, a planar convex region needs to be selected, and the corresponding triaxial force set needs to be determined. The triaxial force sets of each thruster (three thrusters in this embodiment) are then combined to obtain a convex plane combination. Subsequently, multiple convex plane combinations are constructed, and all endpoints included in these combinations are set to obtain an endpoint point set. Then, based on the endpoint point set and the convex region determined by the selected planar convex region's corresponding triaxial force set, and using the fast convex hull algorithm, the combined triaxial force set for each convex plane combination can be obtained.

[0037] A combined set of three-axis forces is the union of the sets of three-axis forces corresponding to a combination of convex planes, and its form is a convex hull. The combined set of three-axis forces includes the set of vertex coordinates of the triangular planes that make up the convex hull, which can be written as a matrix.

[0038] S4: Generate control force commands, determine whether the control force commands are in the set of combined triaxial forces, and obtain feasible control force commands; Furthermore, the objective of this stage is to generate and evaluate control force commands to obtain feasible control force commands. Specifically, in step S4, the command point of the control force command is obtained, the convex hull vertex of the combined triaxial force set is obtained, the outer normal vector is calculated based on the convex hull vertex, and the control force command is determined to be in the combined triaxial force set based on the outer normal vector and the command point.

[0039] The specific implementation method for the above steps in this embodiment is as follows: First, a preliminary control force command needs to be obtained based on the ship's maneuvering requirements. This command is then projected onto the space containing the combined three-axis force set to obtain the command point. Next, a triangular plane on the convex hull is located. The vertices of this triangular plane are extracted from the combined three-axis force set as the convex hull vertices. The coordinates of these vertices include the coordinates of the first convex hull vertex A, the second convex hull vertex B, and the third convex hull vertex C. Finally, the outward normal vector of the i-th triangular plane is calculated using these convex hull vertex coordinates. : Once the outer normal vector is obtained, a judgment expression can be constructed based on the coordinates Q of the command point: in, For any point within the i-th triangular plane, if the manipulation point satisfies the judgment expression for all triangular planes on the convex hull, then the manipulation force command is determined to be in the set of combined three-axis forces. If the manipulation force command is in any set of combined three-axis forces, it is determined to be a feasible manipulation force command; otherwise, it is considered infeasible and discarded.

[0040] S5: Obtain the plane convex region number corresponding to the feasible maneuvering force command, calculate the number change based on the plane convex region number corresponding to the feasible maneuvering force command, select the optimal command from the feasible maneuvering force commands based on the number change, obtain the maneuvering command based on the optimal command, and maneuver the ship through the maneuvering command.

[0041] Furthermore, the objective of this stage is to select the optimal command, thereby obtaining the maneuvering command to control the ship. Specifically, step S5 further includes: S51: Obtain the plane convex region number corresponding to the feasible control force command, retrieve the most recent control command, obtain the plane convex region number corresponding to the most recent control command, and obtain the number change based on the plane convex region number corresponding to the feasible control force command and the plane convex region number corresponding to the most recent control command. S52: Obtain the sequence number change of all the feasible control force commands, and select the feasible control force command with the smallest sequence number change as the optimal command. S53: Convert the optimal command into the control command according to the propeller type, and control the ship using the control command.

[0042] The specific implementation method for the above steps in this embodiment is as follows: First, it is necessary to obtain the sequence number of the planar convex region corresponding to the feasible control force command. Here, the planar convex regions of various types of thrusters on each plane need to be numbered sequentially in a counter-clockwise order. Figures 2 to 4 The numbers in the diagram represent the numbers of the planar convex regions. The feasible control force commands are then projected onto the planar convex regions on each planar thrust feasible domain to obtain the sequence number of the planar convex region where the command falls. This sequence number serves as the planar convex region sequence number corresponding to the feasible control force command. Next, the most recently executed control command is retrieved as the most recent control command, and projected using the above method to obtain the planar convex region sequence number corresponding to the most recent control command in the planar convex regions of each type of propeller on each plane. The absolute value of the difference between the planar convex region sequence number corresponding to each feasible control force command on each plane and the planar convex region sequence number corresponding to the most recent control command is taken to obtain the sequence number change in each planar thrust feasible domain. The sum of the sequence number changes in each plane yields the total sequence number change.

[0043] The method described above is then used to obtain the sequence change of all feasible maneuvering commands, and the feasible maneuvering command with the smallest sequence change is selected as the optimal command. This ensures that the overall change of the optimal command relative to the most recent maneuvering command is minimized, preventing excessively drastic output fluctuations in each propeller and thus reducing instability during ship maneuvering caused by excessive propeller output changes.

[0044] Subsequently, based on the propeller type, a quadratic programming method is used to transform the optimal command into a control command. For different propellers, the thrust and torque resulting from the control command vary. When the propeller is an azimuth thruster, the torque and force acting on the ship are: in, Let j be the force in the X-axis direction caused by the j-th thruster. Let j be the force in the Y-axis direction caused by the j-th thruster. Let θ be the bow torque of the ship's propeller caused by the j-th propeller, n be the rotational speed of the azimuth propeller, k be the thrust coefficient of the azimuth propeller obtained experimentally, and θ be the propeller's turning angle.

[0045] When the thruster is a channel thruster, the channel thruster can be regarded as a fully rotating thruster with a fixed rotation angle set laterally.

[0046] For a propeller-rudder propulsion system, when the rotational speed is positive, the ship experiences the following torque and forces: in, This is the positive propeller thrust coefficient. The rotational speed of the propeller. As the rudder angle, This is the drag mapping function for the rudder at this rudder angle. This is the lift mapping function for the rudder at this rudder angle. When the rotational speed is negative, the ship experiences the following torques and forces: in, This is the negative propeller thrust coefficient. Based on the torque and forces acting on the ship, it can be determined whether the ship can meet the requirements of the maneuvering commands and turn as expected. Executing maneuvering commands that meet the requirements allows for ship maneuvering.

[0047] The following describes the ship thrust distribution combination selection device provided by the present invention. The ship thrust distribution combination selection device described below and the ship thrust distribution combination selection method described above can be referred to in correspondence.

[0048] Figure 5 A schematic diagram of a ship's thrust distribution combination selection system is shown in the example, such as... Figure 5 As shown, the method for performing the ship thrust distribution combination selection as described above includes: Feasible region segmentation module 100: used to determine the type of thruster, obtain the planar thrust feasible region of the thruster according to the type of thruster, and segment the planar thrust feasible region to obtain a planar convex region; Triaxial force collection module 200: Used to determine the installation position of the thruster and obtain the triaxial force collection of the planar convex region based on the installation position of the thruster; The combined triaxial force set module 300 includes selecting a convex plane combination from the planar convex region of the thruster, and obtaining a combined triaxial force set from the convex plane combination through a fast convex hull algorithm and a triaxial force set; Feasible control force command module 400: used to generate control force commands, determine whether the control force commands are in the combined triaxial force set, and obtain feasible control force commands; Ship control module 500: Used to obtain the planar convex region number corresponding to the feasible control force command, calculate the number change based on the planar convex region number corresponding to the feasible control force command, select the optimal command from the feasible control force commands based on the number change, obtain the control command based on the optimal command, and control the ship through the control command.

[0049] Figure 6 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 6 As shown, the electronic device may include: a processor 810, a communications interface 820, a memory 830, and a communication bus 840, wherein the processor 810, the communications interface 820, and the memory 830 communicate with each other via the communication bus 840. The processor 810 can call a computer program in the memory 830 to execute a ship thrust distribution combination selection method, which includes: S1: Determine the thruster type, obtain the feasible region of planar thrust based on the thruster type, and divide the feasible region of planar thrust to obtain a planar convex region; S2: Determine the installation position of the thruster, and obtain the triaxial force set of the planar convex region based on the installation position of the thruster; S3: Select a convex plane combination from the planar convex region of the thruster, and obtain a combined triaxial force set from the convex plane combination using the fast convex hull algorithm and the triaxial force set; S4: Generate control force commands, determine whether the control force commands are in the set of combined triaxial forces, and obtain feasible control force commands; S5: Obtain the plane convex region number corresponding to the feasible maneuvering force command, calculate the number change based on the plane convex region number corresponding to the feasible maneuvering force command, select the optimal command from the feasible maneuvering force commands based on the number change, obtain the maneuvering command based on the optimal command, and maneuver the ship through the maneuvering command.

[0050] Furthermore, when the computer program in the aforementioned memory 830 can be implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes 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.

[0051] On the other hand, the present invention also provides a computer program product, the computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions, wherein when the program instructions are executed by a computer, the computer is able to execute the ship thrust distribution combination selection method provided by the above methods, the method comprising: S1: Determine the thruster type, obtain the feasible region of planar thrust based on the thruster type, and divide the feasible region of planar thrust to obtain a planar convex region; S2: Determine the installation position of the thruster, and obtain the triaxial force set of the planar convex region based on the installation position of the thruster; S3: Select a convex plane combination from the planar convex region of the thruster, and obtain a combined triaxial force set from the convex plane combination using the fast convex hull algorithm and the triaxial force set; S4: Generate control force commands, determine whether the control force commands are in the set of combined triaxial forces, and obtain feasible control force commands; S5: Obtain the plane convex region number corresponding to the feasible maneuvering force command, calculate the number change based on the plane convex region number corresponding to the feasible maneuvering force command, select the optimal command from the feasible maneuvering force commands based on the number change, obtain the maneuvering command based on the optimal command, and maneuver the ship through the maneuvering command.

[0052] In another aspect, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the ship thrust distribution combination selection methods provided above, the method comprising: S1: Determine the thruster type, obtain the feasible region of planar thrust based on the thruster type, and divide the feasible region of planar thrust to obtain a planar convex region; S2: Determine the installation position of the thruster, and obtain the triaxial force set of the planar convex region based on the installation position of the thruster; S3: Select a convex plane combination from the planar convex region of the thruster, and obtain a combined triaxial force set from the convex plane combination using the fast convex hull algorithm and the triaxial force set; S4: Generate control force commands, determine whether the control force commands are in the set of combined triaxial forces, and obtain feasible control force commands; S5: Obtain the plane convex region number corresponding to the feasible maneuvering force command, calculate the number change based on the plane convex region number corresponding to the feasible maneuvering force command, select the optimal command from the feasible maneuvering force commands based on the number change, obtain the maneuvering command based on the optimal command, and maneuver the ship through the maneuvering command.

[0053] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0054] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0055] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for selecting ship thrust distribution combinations, characterized in that, include: S1: Determine the thruster type, obtain the feasible region of planar thrust based on the thruster type, and divide the feasible region of planar thrust to obtain a planar convex region; S2: Determine the installation position of the thruster, and obtain the triaxial force set of the planar convex region based on the installation position of the thruster; S3: Select a convex plane combination from the planar convex region of the thruster, and obtain a combined triaxial force set from the convex plane combination using the fast convex hull algorithm and the triaxial force set; S4: Generate control force command, determine whether the control force command is in the set of combined triaxial forces, and obtain feasible control force command; S5: Obtain the plane convex region number corresponding to the feasible maneuvering force command, calculate the number change based on the plane convex region number corresponding to the feasible maneuvering force command, select the optimal command from the feasible maneuvering force commands based on the number change, obtain the maneuvering command based on the optimal command, and maneuver the ship through the maneuvering command.

2. The method for selecting ship thrust distribution combinations according to claim 1, characterized in that, In step S1, after determining the type of thruster, the operating limitation parameters of the thruster are determined, and the feasible region of planar thrust of the thruster is obtained according to the type of thruster and the operating limitation parameters.

3. The method for selecting ship thrust distribution combinations according to claim 1, characterized in that, Step S2 further includes: S21: Determine the installation position of the thruster, and obtain the installation position coordinate matrix based on the installation position of the thruster; S22: Determine the endpoint coordinate matrix of the planar convex region, and obtain the triaxial force set based on the installation position coordinate matrix and the endpoint coordinate matrix.

4. The method for selecting ship thrust distribution combinations according to claim 1, characterized in that, Step S3 further includes: S31: For each thruster, select a planar convex region and select the triaxial force set corresponding to the planar convex region, and combine them to obtain a convex plane combination; S32: Construct multiple combinations of the convex planes to obtain the endpoint point set of all combinations of the convex planes; S33: Obtain the combined triaxial force set based on the endpoint set and the triaxial force set using the fast convex hull algorithm.

5. The method for selecting ship thrust distribution combinations according to claim 1, characterized in that, In step S4, the command point of the control force command is obtained, the convex hull vertex of the combined triaxial force set is obtained, the outer normal vector is calculated based on the convex hull vertex, and the control force command is determined to be in the combined triaxial force set by the outer normal vector and the command point.

6. The method for selecting ship thrust distribution combinations according to claim 1, characterized in that, Step S5 further includes: S51: Obtain the plane convex region number corresponding to the feasible control force command, retrieve the most recent control command, obtain the plane convex region number corresponding to the most recent control command, and obtain the number change based on the plane convex region number corresponding to the feasible control force command and the plane convex region number corresponding to the most recent control command. S52: Obtain the sequence number change of all the feasible control force commands, and select the feasible control force command with the smallest sequence number change as the optimal command. S53: Convert the optimal command into the control command according to the propeller type, and control the ship using the control command.

7. A ship thrust distribution combination selection system, used to execute the ship thrust distribution combination selection method as described in any one of claims 1 to 6, characterized in that, include: Feasible region segmentation module: used to determine the thruster type, obtain the planar thrust feasible region of the thruster based on the thruster type, and segment the planar thrust feasible region to obtain a planar convex region; Triaxial Force Collection Module: Used to determine the thruster installation position and obtain the triaxial force collection of the planar convex region based on the thruster installation position; The combined triaxial force set module includes selecting a convex plane combination from the planar convex region of the thruster, and obtaining a combined triaxial force set from the convex plane combination through the fast convex hull algorithm and the triaxial force set; Feasible control force command module: used to generate control force commands, determine whether the control force command is in the set of combined triaxial forces, and obtain feasible control force commands; Ship maneuvering module: used to obtain the planar convex region number corresponding to the feasible maneuvering force command, calculate the number change based on the planar convex region number corresponding to the feasible maneuvering force command, select the optimal command from the feasible maneuvering force commands based on the number change, obtain the maneuvering command based on the optimal command, and maneuver the ship through the maneuvering command.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the ship thrust distribution combination selection method as described in any one of claims 1 to 6.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the ship thrust distribution combination selection method as described in any one of claims 1 to 6.

10. A computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions, characterized in that, When the program instructions are executed by the computer, the computer is able to perform the steps of the ship thrust distribution combination selection method as described in any one of claims 1 to 6.

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