A method, system, terminal, and storage medium for suppressing coupled vibrations in ships.

Abstract

This application relates to a method, system, terminal, and storage medium for suppressing coupled vibrations in ships, and pertains to the technical field of ship vibration reduction control. The method includes acquiring the shafting torsional vibration amplitude; determining whether the shafting torsional vibration amplitude exceeds a preset torsional vibration amplitude threshold; if not, continuously acquiring the shafting torsional vibration amplitude for cyclic judgment; if exceeding, acquiring the main engine output torque and shafting output torque; determining whether the main engine output torque and shafting output torque meet preset coupled vibration result requirements; if not, continuously acquiring the main engine output torque and shafting output torque for cyclic judgment; if meeting, acquiring historical intervention data and forward wave data; analyzing the historical intervention data and forward wave data, and controlling a preset dynamic torque output from the motor to suppress the coupled vibration between the preset ship main engine and the preset shaft drive system. This application improves the effectiveness and accuracy of ship coupling suppression.

Description

Technical Field

[0001] This application relates to the technical field of ship vibration reduction and control, and in particular to a method, system, terminal and storage medium for suppressing coupled vibrations in ships. Background Technology

[0002] Ship coupling vibration suppression refers to the process of counteracting low-frequency coupled vibrations between the ship's main engine and shaft belt system by controlling the dynamic torque output of the motor to the shaft belt.

[0003] In related technologies, when controlling the dynamic torque of a motor to counteract low-frequency coupled vibration, the magnitude of the dynamic torque output by the motor is usually controlled based on the real-time coupled vibration data of the shaft belt system. First, the magnitude of coupled vibration is collected in real time by a shaft torsional vibration sensor, and then the dynamic torque output by the motor is controlled by a PID algorithm based on the magnitude of the real-time coupled vibration to counteract the coupled vibration.

[0004] Regarding the aforementioned technologies, when using passive feedback regulation to control the dynamic torque of the motor, the real-time torque changes caused by ocean waves are not taken into account, resulting in a certain degree of lag in the control process. This leads to poor suppression of coupled vibration, and there is still room for improvement. Summary of the Invention

[0005] To improve the effectiveness and accuracy of ship coupling suppression, this application provides a ship coupling vibration suppression method, system, terminal, and storage medium.

[0006] Firstly, this application provides a method for suppressing coupled vibrations in ships, employing the following technical solution: A method for suppressing coupled vibrations in ships, comprising: Obtain the torsional vibration amplitude of the shaft system; Determine whether the torsional vibration amplitude of the shaft system is greater than the preset torsional vibration amplitude threshold; If it is not greater than, the shaft torsional vibration amplitude is continuously acquired and cyclically judged. If it is greater than, then obtain the main unit output torque and the shaft system output torque; Determine whether the output torque of the host machine and the output torque of the shaft system meet the preset requirements for coupled vibration results; If it does not meet the requirements, the host output torque and shaft output torque will be continuously obtained and cyclically judged. If the conditions are met, historical intervention data and forward wave data are obtained; By analyzing historical intervention data and forward wave data, the preset dynamic torque of the motor output is controlled to suppress the coupled vibration between the preset ship main engine and the preset shaft belt system.

[0007] Optionally, the steps of analyzing historical intervention data and forward wave data to control preset dynamic torque of the motor output to suppress preset coupled vibration between the ship's main engine and preset shaft belt system include: Historical intervention data were extracted to determine historical wave moments; Based on a preset wave fluctuation threshold, historical intervention data corresponding to historical wave moments are filtered to determine valid historical data; Extract valid historical data to determine the historical host torque, historical shaft torque, pre-intervention torsion angle, historical motor torque, and counteracting torsion angle sequence; The historical host torque, historical shaft torque, pre-intervention torsion angle, historical motor torque, and counteracting torsion angle sequence are input into a preset random forest model to determine the torque correlation. The basic torque is determined by analyzing torque correlation, effective historical data, and offset torsion angle sequences. Analyze forward wave data to determine the predicted wave moment; The torque correlation, basic torque and predicted wave torque are analyzed to control the dynamic torque output of the motor in order to suppress the coupled vibration between the ship's main engine and the shaft belt system.

[0008] Optionally, the steps of analyzing torque correlations, effective historical data, and offsetting torsion angle sequences to determine the base torque include: Calculate the deviation between the offset torsion angle sequence and the preset target torsion angle to determine the torsion angle deviation sequence; Perform a Fourier transform on the torsion angle deviation sequence to determine the torsion sequence frequency; Data analysis of the torsional sequence frequencies was used to determine the intensity of the counteracting vibration. Numerical analysis is performed on the intensity of the offsetting vibration to determine the minimum vibration intensity. The minimum vibration intensity, effective historical data, and torque correlation were analyzed to determine the foundation torque.

[0009] Optionally, the steps to determine the base torque include analyzing the minimum vibration intensity, effective historical data, and torque correlation. Data is extracted from valid historical data based on the minimum vibration intensity to determine the reference host torque, reference shaft torque, reference shaft torsion angle, and reference motor torque. Get the current host torque, current belt torque, and current belt torsion angle; Calculate the deviations between the current main engine torque and the reference main engine torque, the current shaft belt torque and the reference shaft belt torque, and the current shaft belt torsion angle and the reference shaft belt torsion angle, respectively, to determine the main engine torque deviation, shaft belt torque deviation, and shaft belt torsion angle deviation; The host torque deviation, shaft belt torque deviation, reference belt deviation, torque correlation, and reference motor torque are analyzed to determine the basic torque deviation. The base motor torque is corrected based on the basic torque deviation to determine the basic torque.

[0010] Optionally, the steps of analyzing forward wave data to determine the predicted wave moment include: Data extraction was performed on the forward wave data to determine the wave time series, wave velocity series, and wave moment series. Calculate the quotient of the preset wave propagation path and wave speed sequence to determine the wave propagation time; Calculate the sum of the wave time series and the wave propagation time to determine the arrival time series; Correlating arrival time series with wave moment series to determine real-time wave series; Obtain the motor output time; Data is extracted from the real-time wave sequence based on the motor output time to determine the predicted wave torque.

[0011] Optionally, the steps of analyzing torque correlation, basic torque, and predicted wave torque, and controlling the dynamic torque output of the motor to suppress coupled vibration between the ship's main engine and shaft system include: Calculate the product of the predicted wave torque and the preset shaft-belt drive ratio to determine the actual transmission torque; Obtain the shaft belt torque sequence; The torque correlation, shaft torque sequence, basic torque and actual transmission torque are analyzed to determine the motor torque correction amount; The base torque is adjusted based on the motor torque correction amount to determine the final motor torque; The motor output torque is controlled to suppress the coupled vibration between the ship's main engine and the shaft belt system.

[0012] Optionally, the steps of analyzing torque correlation, shaft torque sequence, basic torque, and actual transmission torque to determine the motor torque correction amount include: Calculate the average value of the belt torque sequence to determine the average belt torque; Calculate the vector sum of the average shaft belt torque and the actual transmitted torque to determine the fused shaft belt torque; The basic torque, the combined shaft torque, the average shaft torque, and the torque correlation are analyzed to determine the motor torque correction amount.

[0013] Secondly, this application provides a ship coupled vibration suppression system, which adopts the following technical solution: A ship coupled vibration suppression system, comprising: The acquisition module is used to acquire shaft torsional vibration amplitude, main engine output torque, shaft output torque, historical intervention data, and forward wave data; A memory for storing a program for a ship coupling vibration suppression method as described in any of the preceding claims; The processor and the program in the memory can be loaded and executed by the processor to implement a ship coupling vibration suppression method as described in any of the above.

[0014] Thirdly, this application provides a smart terminal, which adopts the following technical solution: A smart terminal includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed as described in any of the preceding claims, a method for suppressing coupled vibrations of a ship.

[0015] Fourthly, this application provides a computer storage medium capable of storing corresponding programs, which facilitates the improvement of the effectiveness and accuracy of ship coupling suppression, and adopts the following technical solution: A computer-readable storage medium storing a computer program capable of being loaded by a processor and executing any of the above-described methods for suppressing coupled vibrations in a ship.

[0016] In summary, this application includes at least one of the following beneficial technical effects: 1. By judging whether the shaft torsional vibration amplitude is greater than the torsional vibration amplitude threshold, when the shaft torsional vibration amplitude is not greater than the torsional vibration amplitude threshold, it indicates that the shaft link vibration amplitude is normal and there is no coupled vibration. Therefore, the shaft torsional vibration amplitude is continuously acquired and judged cyclically. When the shaft torsional vibration amplitude is greater than the torsional vibration amplitude threshold, it indicates that the shaft belt torsional vibration amplitude exceeds the allowable shaft link threshold and there is a possibility of coupled vibration. Therefore, it is judged whether the main engine output torque and the shaft output torque are strongly correlated and coupled vibration occurs. When the main engine output torque and the shaft output torque are not correlated, it indicates that there is no coupled vibration. Therefore, the main engine output torque and the shaft output torque are continuously acquired and judged cyclically. When the main engine output torque and the shaft output torque are strongly correlated and coupled vibration occurs, it indicates that the motor needs to be controlled to apply dynamic torque to the shaft belt to suppress coupled vibration. Therefore, historical intervention data and forward wave data at the bow are analyzed to improve the accuracy of ship coupling suppression. 2. By extracting historical intervention data, historical wave torque is determined. Then, valid historical data with wave torques less than the wave fluctuation threshold are selected. Data extraction is performed on the valid historical data to determine the historical main engine torque, historical shaft torque, pre-intervention torsion angle, historical motor torque, and counteracting torsion angle sequence. These sequences are then input into a random forest model to determine torque correlations. Analysis of the torque correlations, valid historical data, and counteracting torsion angle sequence determines the base torque. Forward wave data is then analyzed, and the predicted wave torque is determined based on the continuous propagation characteristics of waves. Finally, the torque correlations, base torque, and predicted wave torque are analyzed to control the dynamic torque output of the motor, thereby suppressing coupled vibration between the ship's main engine and shaft system. Based on the wave fluctuation threshold, historical intervention data is selected for learning under stable wave conditions to extract torque correlations and determine the optimal base torque, thus improving the accuracy of ship coupled vibration suppression. 3. By extracting data from forward wave data, the wave time series, wave velocity series, and wave torque series are determined. Then, the quotient of the wave propagation path and the wave velocity series is calculated to determine the wave propagation time from the detection position to the propeller position, which affects the coupled vibration of the main unit and the shaft belt system. The sum of the wave time series and the wave propagation time is then calculated to determine the arrival time series. The arrival time series is correlated with the wave torque series to determine the real-time wave sequence. Based on the motor output time for the motor to intervene in the coupled vibration, data is extracted from the real-time wave sequence according to the motor output time to determine the predicted wave torque, thereby improving the accuracy of wave prediction data. Attached Figure Description

[0017] Figure 1 This is a flowchart of a ship coupling vibration suppression method according to an embodiment of this application.

[0018] Figure 2 This is a flowchart illustrating how historical intervention data and forward wave data are analyzed in this application embodiment to control the preset dynamic torque output of the motor in order to suppress the coupled vibration between the preset ship main engine and the preset shaft belt system.

[0019] Figure 3 This is a flowchart in this application embodiment that analyzes torque correlation, effective historical data, and offset torsion angle sequence to determine the basic torque.

[0020] Figure 4 This is a flowchart in this application embodiment that analyzes the minimum vibration intensity, effective historical data, and torque correlation to determine the basic torque.

[0021] Figure 5 This is a flowchart in this application embodiment of analyzing forward wave data to determine the predicted wave moment.

[0022] Figure 6 This is a flowchart illustrating the analysis of torque correlation, basic torque, and predicted wave torque in the embodiments of this application, and the control of the motor output dynamic torque to suppress the coupled vibration between the ship's main engine and the shaft belt system.

[0023] Figure 7 This is a flowchart illustrating the analysis of torque correlation, shaft torque sequence, basic torque, and actual transmission torque in this application embodiment to determine the motor torque correction amount. Detailed Implementation

[0024] To make the purpose, technical solution, and advantages of this application clearer, the following description is provided in conjunction with the appendix. Figures 1 to 7 The present application will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the application.

[0025] This application discloses a method, system, terminal, and storage medium for suppressing coupled vibrations in ships. Specifically, it discloses a processing terminal and a motor, which are communicatively connected to achieve information interaction and control. The processing terminal acquires the torsional vibration amplitude of the shaft system and determines whether the amplitude exceeds a torsional vibration amplitude threshold. When the amplitude does not exceed the threshold, it indicates that the shaft system vibration amplitude is normal and there is no coupled vibration. Therefore, the torsional vibration amplitude is continuously acquired and cyclically judged. When the amplitude exceeds the threshold, it indicates that the shaft system torsional vibration amplitude exceeds the allowable threshold. There is a possibility of coupled vibration. Therefore, it is necessary to determine whether the main engine output torque and the shaft system output torque are strongly correlated and coupled vibration occurs. When the main engine output torque and the shaft system output torque are not correlated, it indicates that coupled vibration does not occur. Therefore, the main engine output torque and the shaft system output torque are continuously acquired and cyclically judged. When the main engine output torque and the shaft system output torque are strongly correlated and coupled vibration occurs, it indicates that it is necessary to control the motor to apply dynamic torque to the shaft belt to suppress coupled vibration. Therefore, historical intervention data and forward wave data at the bow are analyzed to improve the accuracy of ship coupling suppression.

[0026] Reference Figure 1 This application discloses a method for suppressing coupled vibrations of a ship, comprising the following steps: Step S100: Obtain the torsional vibration amplitude of the shaft system.

[0027] Among them, the shaft system torsional vibration amplitude refers to the amplitude of the torsional vibration of the shaft belt system. It is determined by the processing terminal by first retrieving the instantaneous torsional angle data of the shaft belt system measured by the torsional angle sensor deployed on the shaft belt system, then extracting the total torsional angle data based on the sliding window, calculating the mean of the data in the window, and then calculating the absolute deviation between the real-time torsional angle data and the total torsional angle data.

[0028] Step S101: Determine whether the torsional vibration amplitude of the shaft system is greater than the preset torsional vibration amplitude threshold.

[0029] Among them, the torsional vibration amplitude threshold refers to the upper limit of the torsional vibration amplitude of the shaft system when the shaft belt system is running normally and does not couple with the host machine. It is determined by the operator based on the upper limit of the torsional vibration amplitude when the shaft belt system is running stably.

[0030] By processing the terminal to determine whether the torsional vibration amplitude of the shaft system is greater than the torsional vibration amplitude threshold, it can be determined whether there is a risk of coupled vibration between the shaft belt system and the host machine, and then the motor can be controlled in a timely manner to intervene in the coupled vibration.

[0031] Step S1011: If it is not greater than, then continuously obtain the shaft system torsional vibration amplitude for cyclic judgment.

[0032] If the processing terminal determines that the torsional vibration amplitude of the shaft system is not greater than the torsional vibration amplitude threshold, it indicates that there is no coupled vibration between the host machine and the shaft belt system at this time. Therefore, the torsional vibration amplitude of the shaft system is continuously acquired for cyclic judgment.

[0033] Step S1012: If it is greater than, then obtain the main unit output torque and the shaft system output torque.

[0034] If the processing terminal determines that the shafting torsional vibration amplitude is greater than the torsional vibration amplitude threshold, it indicates that there is a risk of coupled vibration between the main engine and the shaft system. Further analysis is needed to determine this to avoid misjudgment by the system. Therefore, obtaining the main engine output torque and the shafting output torque provides data support for further determination of the ship's coupled vibration.

[0035] Main engine output torque refers to the rotational torque output by the ship's main engine to the shaft belt. The processing terminal first collects operating parameters such as the main engine speed and fuel injection quantity, determines the basic main engine output torque based on the MAP diagram of the ship's main engine torque, and then calibrates and determines the basic data based on the shaft torque sensor data.

[0036] Shaft system torque refers to the rotational torque output from the ship's shaft belt system to the shaft belt, which is determined by the processing terminal by directly retrieving the measured data from the torque sensors installed on the shaft belt system.

[0037] Step S1013: Determine whether the output torque of the host machine and the output torque of the shaft system meet the requirements of the preset coupled vibration results.

[0038] The coupled vibration result refers to the fact that the main frequency of the main unit's output torque and the main frequency of the shaft system's output torque are the same as the excitation characteristic frequency of the main unit, and that the amplitude and phase changes of the main unit's output torque and the shaft system's output torque exhibit synchronous correlation characteristics, meaning that the main unit and the shaft system experience coupled vibration. The requirement for the coupled vibration result is that it be consistent with the actual coupled vibration result.

[0039] By processing the terminal to determine whether there is coupled vibration between the main engine and the shafting output torque, it can further determine whether coupled vibration has occurred when the shafting torsional vibration amplitude exceeds the threshold, thereby avoiding misjudgment of coupled vibration and improving the accuracy of ship coupled vibration suppression.

[0040] Step S1014: If it does not meet the requirements, continue to obtain the main unit output torque and shaft system output torque for cyclic judgment.

[0041] If the processing terminal determines that there is no coupled vibration between the host and the shaft system, the host output torque and shaft output torque are continuously acquired and cyclically judged.

[0042] Step S1015: If the conditions are met, obtain historical intervention data and forward wave data.

[0043] If the processing terminal determines that there is coupled vibration between the main engine and the shaft system, it indicates that intervention is needed to address the ship's coupled vibration. Therefore, historical intervention data and forward wave data are obtained to provide data support for subsequent control of the motor's output dynamic torque.

[0044] Historical intervention data refers to historical data on the intervention and cancellation of coupled vibrations between the ship's main engine and shaft system by motors. This includes data such as wave torque before intervention, main engine torque, shaft system torque, shaft torsion angle, motor intervention torque, and shaft torsion angle sequence after intervention. The processing terminal determines the time extraction point based on the output time of the motor intervention torque, and extracts and integrates the ship's operation data before and after the time extraction point in the historical database according to the time extraction point.

[0045] Forward wave data refers to the wave data at the bow position facing the waves, including wave speed and wave torque data. It is determined by the processing terminal by retrieving measurement data from strain gauge three-dimensional force sensors and marine Doppler current profilers deployed at the bow position facing the waves.

[0046] Step S1016: Analyze historical intervention data and forward wave data, and control the preset dynamic torque output of the motor to suppress the coupled vibration between the preset ship main engine and the preset shaft belt system.

[0047] Among them, the motor refers to the drive device installed on the shaft belt system to output dynamic compensation torque to the shaft belt system in order to counteract the coupled vibration between the ship's main engine and the shaft belt system.

[0048] The main engine of a ship refers to the core power unit of the ship. The main engine drives the propeller through the shaft belt system to drive the ship.

[0049] The shaft system refers to the rigid shaft connecting the ship's main engine and propeller, as well as related systems on the shaft, including generators, controllers, and motors. These systems are prone to coupled vibration with the ship's main engine on the rigid shaft.

[0050] After determining the historical intervention data and forward wave data, analyze the historical intervention data and forward wave data to control the dynamic torque output of the motor, thereby suppressing the coupled vibration between the ship's main engine and shaft system. Specific analysis steps are detailed below. Figure 2 The steps in the process.

[0051] Reference Figure 2 The steps involved in analyzing historical intervention data and forward wave data to control the preset dynamic torque output of the motor, thereby suppressing the coupled vibration between the preset ship's main engine and the preset shaft belt system, include: Step S200: Extract historical intervention data to determine historical wave torque.

[0052] Among them, historical wave moment refers to the wave moment data in historical intervention data, which is determined by the processing terminal by extracting the wave moment data from the historical intervention data.

[0053] Step S201: Filter the historical intervention data corresponding to the historical wave moment according to the preset wave fluctuation threshold to determine the valid historical data.

[0054] Among them, the wave fluctuation threshold refers to the lower limit of the torque modulus value of the wave's influence on the vibration of the shaft belt system through the propeller drive, which is determined by the operator through pre-experimentation on the ship's shaft belt system.

[0055] Valid historical data refers to historical intervention data that has not been affected by ocean waves. The processing terminal filters the historical intervention data according to the ocean wave fluctuation threshold, extracts the historical valid data whose historical ocean wave moment is greater than the ocean wave fluctuation threshold, and the remaining data are the valid historical data.

[0056] Step S202: Extract valid historical data to determine the historical host torque, historical shaft torque, pre-intervention torsion angle, historical motor torque, and counteracting torsion angle sequence.

[0057] Among them, historical host torque refers to the host torque in the valid historical data. Historical shaft torque refers to the shaft system torque in the valid historical data. Pre-intervention torsion angle refers to the shaft torsion angle obtained from the last detection before the motor intervenes in the shaft system torque data. Historical motor torque refers to the motor torque value output when intervening in coupled vibration in the valid historical data. The counteracting torsion angle sequence refers to the shaft torsion angle sequence after the motor outputs torque, used to measure the motor's suppression effect on coupled vibration. All of the above data are determined by the processing terminal through data extraction from the valid historical data.

[0058] Step S203: Input the historical host torque, historical shaft torque, pre-intervention torsion angle, historical motor torque, and counteracting torsion angle sequence into a preset random forest model to determine the torque correlation.

[0059] The random forest model is an algorithmic model that learns from historical decision data and the final decision effect to establish the correlation between ship-related parameters and motor torque decisions. The model takes historical main engine torque, historical shaft torque, pre-intervention torsion angle, historical motor torque, and counteracting torsion angle sequence as input. The model first integrates historical data, then builds a decision tree to learn from the complex combination of multivariate data and the final effect, and finally determines the triple mapping relationship between variable changes, motor torque changes, and the final effect.

[0060] Torque correlation refers to the triple mapping relationship between ship coupled vibration related data, motor output torque, and shaft belt amplitude after cancellation. It is determined by the processing terminal by training a random forest model by inputting the historical main engine torque, historical shaft belt torque, torsion angle before intervention, historical motor torque, and cancellation torsion angle sequence into the model.

[0061] Step S204: Analyze the torque correlation, effective historical data, and offset torsion angle sequence to determine the basic torque.

[0062] The base torque refers to the motor output torque when canceling coupled vibrations without considering the influence of ocean waves. It is determined by the processing terminal through analysis of torque correlation, valid historical data, and the canceling torsional angle sequence. Specific analysis steps are detailed below. Figure 3 The steps in the process.

[0063] Step S205: Analyze the forward wave data to determine the predicted wave moment.

[0064] Among them, the predicted wave torque refers to the torque of the instantaneous wave acting on the propeller, affecting the vibration of the shaft belt system, which is obtained by extrapolating and predicting the motor output torque based on forward wave data. This torque is determined by the processing terminal through analysis of the forward wave data. Specific analysis steps are described in [reference needed]. Figure 5 The steps in the process.

[0065] Step S206: Analyze the torque correlation, basic torque and predicted wave torque, and control the motor output dynamic torque to suppress the coupled vibration between the ship's main engine and shaft belt system.

[0066] After determining the torque correlation, basic torque, and predicted wave torque, the analysis of these parameters is performed to control the dynamic torque output of the motor, thereby suppressing the coupled vibration between the ship's main engine and shaft system, and thus optimizing the suppression effect of ship coupled vibration. Specific analysis steps are detailed below. Figure 6 The steps in the process.

[0067] Reference Figure 3 The steps to determine the base torque by analyzing torque correlations, effective historical data, and offsetting torsion angle sequences include: Step S300: Calculate the deviation between the offset torsion angle sequence and the preset target torsion angle to determine the torsion angle deviation sequence.

[0068] The target torsion angle refers to the ideal torsion angle obtained after the motor output torque completely cancels out the coupled vibration. It is determined by the operator based on the specific ship model, shafting design parameters, matching characteristics between the ship's main engine and shaft belt system, and the range of torsion angles under these parameters when the shafting is in a state of no coupled vibration and stable normal operation.

[0069] The torsion angle deviation sequence refers to the deviation sequence between the actual torsion angle sequence after the motor is activated and the target torsion angle. It is determined by the processing terminal by calculating and offsetting the deviation between the torsion angle sequence and the preset target torsion angle.

[0070] Step S301: Perform a Fourier transform on the torsion angle deviation sequence to determine the torsion sequence frequency.

[0071] Among them, the torsion sequence frequency refers to the frequency of the torsion angle deviation sequence, which is determined by the processing terminal by performing a Fourier transform on the torsion angle deviation sequence.

[0072] Step S302: Perform data analysis on the torsional sequence frequency to determine the intensity of the counteracting vibration.

[0073] Among them, the vibration intensity of the offsetting vibration refers to the vibration intensity of the shaft belt system after being offset by the output torque of the motor, which is determined by the processing terminal by first locating the frequency domain amplitude of the main frequency of the torsional sequence frequency.

[0074] Step S303: Perform numerical analysis on the offset vibration intensity to determine the minimum vibration intensity.

[0075] The minimum vibration intensity refers to the minimum counteracting vibration intensity. The minimum counteracting vibration intensity is determined by the processing terminal through numerical analysis of the counteracting vibration intensity, which is the small vibration intensity.

[0076] Step S304: Analyze the minimum vibration intensity, effective historical data, and torque correlation to determine the base torque.

[0077] The basic torque is consistent with the basic torque in step S204, and is determined by the processing terminal through analysis of minimum vibration intensity, effective historical data, and torque correlation. Specific analysis steps are detailed below. Figure 4 The steps in the process.

[0078] Reference Figure 4 The steps for determining the foundation torque by analyzing the minimum vibration intensity, effective historical data, and torque correlation include: Step S400: Extract data from valid historical data based on minimum vibration intensity to determine the reference host torque, reference shaft torque, reference shaft torsion angle, and reference motor torque.

[0079] Among them, the reference host torque refers to the host output torque in the valid historical data corresponding to the minimum vibration intensity. The reference shaft torque refers to the shaft output torque in the valid historical data corresponding to the minimum vibration intensity. The reference shaft torsion angle refers to the shaft torsion angle before cancellation in the valid historical data corresponding to the minimum vibration intensity. The reference motor torque refers to the motor output torque in the valid historical data corresponding to the minimum vibration intensity. All of the above data are determined by the processing terminal by first locating the valid historical data corresponding to the minimum vibration intensity, and then extracting the corresponding valid historical data to provide data support for the subsequent determination of the basic torque.

[0080] Step S401: Obtain the current host torque, current shaft torque, and current shaft torsion angle.

[0081] Among them, the current main engine torque refers to the real-time output torque of the ship's main engine. The current shaft torque refers to the real-time output torque of the current shaft belt system. The current shaft belt torsion angle refers to the real-time torsion angle of the current shaft belt system. All of the above data are determined by the processing terminal after determining that there is coupled vibration between the ship's main engine and the shaft belt system, by retrieving the latest measurement data from the corresponding sensors.

[0082] Step S402: Calculate the deviations between the current main engine torque and the reference main engine torque, the current shaft torque and the reference shaft torque, and the current shaft torsion angle and the reference shaft torsion angle, respectively, to determine the main engine torque deviation, shaft torque deviation, and shaft torsion angle deviation.

[0083] Among them, the host torque deviation refers to the deviation between the current host torque and the reference host torque, which is determined by the processing terminal by calculating the difference between the current host torque and the reference host torque.

[0084] Shaft torque deviation refers to the deviation between the current shaft torque and the reference shaft torque, which is determined by the processing terminal by calculating the difference between the current shaft torque and the reference shaft torque.

[0085] Shaft torsion angle deviation refers to the deviation between the current shaft torsion angle and the reference shaft torsion angle, which is determined by the processing terminal by calculating the difference between the current shaft torsion angle and the reference shaft torsion angle.

[0086] Step S403: Analyze the main unit torque deviation, shaft belt torque deviation, reference belt deviation, torque correlation, and reference motor torque to determine the basic torque deviation.

[0087] Among them, the basic torque deviation refers to the adjustment direction of the phase and magnitude between the basic torque and the reference motor torque determined based on the deviation between the current series of ship torque parameters and the parameters under the reference state. The processing terminal first inputs the reference link deviation into the torque correlation relationship for limitation, and then inputs the main engine torque deviation, shaft torque deviation and reference link deviation into the torque correlation relationship to determine the adjustment amount of the phase and magnitude corresponding to the basic torque deviation under the reference link deviation.

[0088] Step S404: Correct the reference motor torque based on the basic torque deviation to determine the basic torque.

[0089] The base torque is consistent with the base torque in step S304, and is determined by the processing terminal by adjusting the amplitude and phase of the reference motor torque according to the base torque deviation.

[0090] Reference Figure 5 The steps for analyzing forward wave data to determine the predicted wave moment include: Step S500: Extract data from the forward wave data to determine the wave time series, wave velocity series, and wave moment series.

[0091] Among them, the wave time series refers to the time series of wave data. The wave velocity series refers to the wave propagation speed sequence. The wave moment series refers to the real-time moment sequence of waves. All of the above data are determined by the processing terminal through data extraction from forward wave data.

[0092] Step S501: Calculate the quotient of the preset wave propagation path and wave speed sequence to determine the wave propagation time.

[0093] Among them, the wave propagation path refers to the length of the wave that propagates from the detection position at the bow to the propeller and affects the shaft vibration. It is determined by the operator based on the placement of the sensor at the bow and the position of the propeller at the stern.

[0094] Wave propagation time refers to the time required for a wave to travel to the stern of the ship, which is determined by the processing terminal by calculating the quotient of the wave propagation path and the wave speed sequence.

[0095] Step S502: Calculate the sum of the wave time series and the wave propagation time to determine the arrival time series.

[0096] The arrival time series refers to the predicted time series of the wave sequence at the propeller, which is determined by the processing terminal by calculating the sum of the wave time series and the wave propagation time.

[0097] Step S503: Associate the arrival time series with the wave moment series to determine the real-time wave series.

[0098] Among them, the real-time wave sequence refers to the wave torque sequence arranged in time sequence at the propeller. The processing terminal determines the arrival time sequence and the wave torque sequence one by one by the correspondence between the wave time sequence and the wave torque sequence.

[0099] Step S504: Obtain the motor output time.

[0100] Among them, the motor output time refers to the time point at which the motor outputs torque. It is determined by the processing terminal after determining that there is coupled vibration between the ship's main engine and the shaft belt system, and then taking a fixed data analysis time based on the time point of the coupled vibration.

[0101] Step S505: Extract data from the real-time wave sequence based on the motor output time to determine the predicted wave torque.

[0102] The predicted wave torque is consistent with the predicted wave torque in step S205. It is determined by the processing terminal by extracting data from the real-time wave sequence based on the motor output time. Based on the continuity of the waves and the measured data of the waves at the bow, the data of the waves at the stern are predicted. Then, the motor output torque is determined by combining the wave torque, thereby improving the accuracy of ship coupling vibration suppression.

[0103] Reference Figure 6 The steps involved in analyzing torque correlation, basic torque, and predicted wave torque, and controlling the dynamic torque output of the motor to suppress coupled vibration between the ship's main engine and shaft system include: Step S600: Calculate the product of the predicted wave torque and the preset shaft belt drive ratio to determine the actual transmission torque.

[0104] Among them, the shaft belt drive ratio refers to the proportion of torque transmitted from the shaft belt to the shaft belt system to the total torque of the main engine and the shaft belt system, which is determined by the operator based on the ship's design parameters and actual operating data.

[0105] Actual transmission torque refers to the torque actually transmitted from the predicted wave data to the belt drive, which is determined by the processing terminal by calculating the product of the predicted wave torque and the proportion of belt drive.

[0106] Step S601: Obtain the shaft and belt torque sequence.

[0107] Among them, the shaft torque sequence refers to the sequence of current shaft torque, which is extracted and determined by the processing terminal through a sliding time window.

[0108] Step S602: Analyze the torque correlation, shaft torque sequence, basic torque and actual transmission torque to determine the motor torque correction amount.

[0109] The motor torque correction refers to the change in motor output after considering the influence of wave torque. It is determined by the processing terminal through analysis of torque correlation, shaft torque sequence, basic torque, and actual transmission torque. Specific analysis steps are detailed below. Figure 7 The steps in the process.

[0110] Step S603: Correct the base torque according to the motor torque correction amount to determine the final motor torque.

[0111] The final motor torque refers to the motor torque obtained after correction for the impact of ocean waves, which is determined by the processing terminal by correcting the base torque based on the motor torque correction amount.

[0112] Step S604: Control the motor output to achieve the final motor torque in order to suppress the coupled vibration between the ship's main engine and the shaft belt system.

[0113] Among them, after determining the final motor torque, the motor output is controlled to suppress the coupled vibration between the ship's main engine and the shaft belt system.

[0114] Reference Figure 7 The steps for determining the motor torque correction amount include analyzing the torque correlation, shaft torque sequence, basic torque, and actual transmission torque. Step S700: Calculate the average value of the belt torque sequence to determine the average belt torque.

[0115] The average shaft torque refers to the average value of the shaft torque sequence, which is determined by the processing terminal by calculating the arithmetic mean of the shaft torque sequence.

[0116] Step S701: Calculate the vector sum of the average shaft belt torque and the actual transmission torque to determine the fused shaft belt torque.

[0117] Among them, the fused shaft torque refers to the total shaft torque obtained by merging the real-time shaft torque and the transmission torque of the waves, which is determined by the processing terminal by calculating the vector sum of the average shaft torque and the actual transmission torque.

[0118] Step S702: Analyze the basic torque, the fused shaft torque, the average shaft torque, and the torque correlation to determine the motor torque correction amount.

[0119] The motor torque correction amount is consistent with the motor torque correction amount in step S602. The processing terminal first analyzes the data of the fused shaft torque and the average shaft torque to determine the phase change and magnitude change of the shaft torque. Then, it inputs the change amount into the torque correlation to determine the change amount of the basic torque corresponding to the change amount, which is the motor torque correction amount.

[0120] Based on the same inventive concept, embodiments of this application provide a ship coupled vibration suppression system, comprising: The acquisition module is used to acquire shaft torsional vibration amplitude, main unit output torque, shaft output torque, historical intervention data, forward wave data, current main unit torque, current shaft torque, current shaft torsion angle, motor output time, and shaft torque sequence. A memory for storing a program for a method to suppress coupled vibrations in ships; The processor and memory can load and execute programs to implement a method for suppressing coupled vibrations in ships.

[0121] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0122] This application provides a computer-readable storage medium storing a computer program that can be loaded by a processor and executed as a method for suppressing coupled vibrations in a ship.

[0123] Computer storage media include, for example, USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, optical disks, and other media that can store program code.

[0124] Based on the same inventive concept, embodiments of this application provide a smart terminal, including a memory and a processor, wherein the memory stores a computer program that can be loaded and executed by the processor to provide a method for suppressing ship coupled vibration.

[0125] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0126] The above are all preferred embodiments of this application and are not intended to limit the scope of protection of this application. Any feature disclosed in this specification (including the abstract and drawings) may be replaced by other equivalent or similar features unless specifically stated otherwise. That is, unless specifically stated otherwise, each feature is only one example of a series of equivalent or similar features.

Claims

1. A method for suppressing coupled vibrations in ships, characterized in that, include: Obtain the torsional vibration amplitude of the shaft system; Determine whether the torsional vibration amplitude of the shaft system is greater than the preset torsional vibration amplitude threshold; If it is not greater than, the shaft torsional vibration amplitude is continuously acquired and cyclically judged. If it is greater than, then obtain the main unit output torque and the shaft system output torque; Determine whether the output torque of the host machine and the output torque of the shaft system meet the preset requirements for coupled vibration results; If it does not meet the requirements, the host output torque and shaft output torque will be continuously obtained and cyclically judged. If the conditions are met, historical intervention data and forward wave data are obtained; By analyzing historical intervention data and forward wave data, the preset dynamic torque of the motor output is controlled to suppress the coupled vibration between the preset ship main engine and the preset shaft belt system.

2. The method for suppressing coupled vibrations of a ship according to claim 1, characterized in that, The steps of analyzing historical intervention data and forward wave data to control the preset dynamic torque of the motor output in order to suppress the coupled vibration between the preset ship main engine and the preset shaft belt system include: Historical intervention data were extracted to determine historical wave moments; Historical intervention data corresponding to historical wave moments are filtered based on preset wave fluctuation thresholds to determine valid historical data; Extract valid historical data to determine the historical host torque, historical shaft torque, pre-intervention torsion angle, historical motor torque, and counteracting torsion angle sequence; The historical host torque, historical shaft torque, pre-intervention torsion angle, historical motor torque, and counteracting torsion angle sequence are input into a preset random forest model to determine the torque correlation. The basic torque is determined by analyzing torque correlation, effective historical data, and offset torsion angle sequences. Analyze forward wave data to determine the predicted wave moment; The torque correlation, basic torque and predicted wave torque are analyzed to control the dynamic torque output of the motor in order to suppress the coupled vibration between the ship's main engine and the shaft belt system.

3. The method for suppressing coupled vibrations of a ship according to claim 2, characterized in that, The steps to determine the base torque by analyzing torque correlations, effective historical data, and offsetting torsion angle sequences include: Calculate the deviation between the offset torsion angle sequence and the preset target torsion angle to determine the torsion angle deviation sequence; Perform a Fourier transform on the torsion angle deviation sequence to determine the torsion sequence frequency; Data analysis of the torsional sequence frequencies was used to determine the intensity of the counteracting vibration. Numerical analysis is performed on the intensity of the offsetting vibration to determine the minimum vibration intensity. The minimum vibration intensity, effective historical data, and torque correlation were analyzed to determine the foundation torque.

4. The method for suppressing coupled vibration of a ship according to claim 3, characterized in that, The steps for determining the foundation torque by analyzing the minimum vibration intensity, effective historical data, and torque correlation include: Data is extracted from valid historical data based on the minimum vibration intensity to determine the reference host torque, reference shaft torque, reference shaft torsion angle, and reference motor torque. Get the current host torque, current belt torque, and current belt torsion angle; Calculate the deviations between the current main engine torque and the reference main engine torque, the current shaft belt torque and the reference shaft belt torque, and the current shaft belt torsion angle and the reference shaft belt torsion angle, respectively, to determine the main engine torque deviation, shaft belt torque deviation, and shaft belt torsion angle deviation; The host torque deviation, shaft belt torque deviation, reference belt deviation, torque correlation, and reference motor torque are analyzed to determine the basic torque deviation. The base motor torque is corrected based on the basic torque deviation to determine the basic torque.

5. A method for suppressing coupled vibrations of a ship according to claim 2, characterized in that, The steps for analyzing forward wave data to determine the predicted wave moment include: Data extraction was performed on the forward wave data to determine the wave time series, wave velocity series, and wave moment series. Calculate the quotient of the preset wave propagation path and wave speed sequence to determine the wave propagation time; Calculate the sum of the wave time series and the wave propagation time to determine the arrival time series; Correlating arrival time series with wave moment series to determine real-time wave series; Obtain the motor output time; Data is extracted from the real-time wave sequence based on the motor output time to determine the predicted wave torque.

6. A method for suppressing coupled vibrations of a ship according to claim 2, characterized in that, The steps for analyzing torque correlation, basic torque, and predicted wave torque, and controlling the dynamic torque output of the motor to suppress coupled vibration between the ship's main engine and shaft system include: Calculate the product of the predicted wave torque and the preset shaft-belt drive ratio to determine the actual transmission torque; Obtain the shaft belt torque sequence; The torque correlation, shaft torque sequence, basic torque and actual transmission torque are analyzed to determine the motor torque correction amount; The base torque is adjusted based on the motor torque correction amount to determine the final motor torque; The motor output torque is controlled to suppress the coupled vibration between the ship's main engine and the shaft belt system.

7. A method for suppressing coupled vibrations of a ship according to claim 6, characterized in that, The steps to determine the motor torque correction amount by analyzing torque correlation, shaft torque sequence, basic torque, and actual transmission torque include: Calculate the average value of the belt torque sequence to determine the average belt torque; Calculate the vector sum of the average shaft belt torque and the actual transmitted torque to determine the fused shaft belt torque; The basic torque, the combined shaft torque, the average shaft torque, and the torque correlation are analyzed to determine the motor torque correction amount.

8. A ship coupling vibration suppression system, characterized in that, include: The acquisition module is used to acquire shaft torsional vibration amplitude, main engine output torque, shaft output torque, historical intervention data, and forward wave data; A memory for storing a program of a ship coupling vibration suppression method as described in any one of claims 1 to 7; The processor and the program in the memory can be loaded and executed by the processor to implement the ship coupling vibration suppression method as described in any one of claims 1 to 7.

9. A smart terminal, characterized in that, It includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed as described in any one of claims 1 to 7, for the method of suppressing ship coupled vibration.

10. A computer-readable storage medium, characterized in that, The system contains a computer program that can be loaded by a processor and executed as described in any one of claims 1 to 7, for the method of suppressing coupled vibrations of a ship.

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