Intelligent self-adaptive ship stabilization system and method

Abstract

This invention discloses an intelligent adaptive ship roll reduction system, comprising: a sensing module for real-time acquisition of ship status, environmental data, and ballast tank information, and transmitting the real-time data to an intelligent core control module via a data bus; an intelligent core control module internally running an adaptive ship model predictive control algorithm for online adaptive updating of the adaptive ship model, real-time estimation of wave disturbances, forward prediction of future motion, and optimized generation of control commands; and an execution module for receiving control commands sent by the intelligent core control module via the data bus, driving the corresponding roll reduction device to generate a stabilizing torque, suppressing ship roll, and feeding back the real-time operating status of the roll reduction device to the intelligent core control module, forming a closed-loop control. An intelligent adaptive ship roll reduction method is also disclosed. This invention achieves high-performance roll reduction and energy-saving control under all operating conditions.

Description

Technical Field

[0001] This invention belongs to the field of marine engineering and automatic control technology, specifically an intelligent adaptive ship roll reduction system and method. Background Technology

[0002] Modern cargo ships are trending towards larger sizes, increasing their lateral wind-facing area. In rough seas, this can lead to rolling and swaying, causing cargo to fall or shift, resulting in economic losses and, in severe cases, endangering personnel safety. Currently, ship roll reduction devices are mainly divided into passive and active types. Active devices, such as anti-roll fins and gyro stabilizers, are the most widely used. Anti-roll fins are highly effective at higher speeds but ineffective at low or zero speeds. While gyro stabilizers are not limited by speed, they consume a huge amount of energy, and their control strategies are mostly simple feedback control, only reacting to compensation after rolling occurs, resulting in control lag. The control parameters are adjusted for a specific loading state of the ship and cannot adapt to changes in ballast water, free surface effects causing changes in dynamic parameters such as weight, center of gravity, and moment of inertia. They also cannot sense and proactively respond to complex and changing sea conditions (such as changes in wave direction and frequency).

[0003] Therefore, to address the above issues, an intelligent adaptive ship roll reduction system and method are provided. Summary of the Invention

[0004] To address the aforementioned problems in existing technologies, this invention provides an intelligent adaptive ship roll reduction system and method. This system solves the problem that existing ship roll reduction control technologies cannot adapt to changes in ballast water, free surface effects, and complex sea conditions during ship operation, which cause time-varying ship dynamics models. This enables high-performance roll reduction and energy-saving control under all operating conditions.

[0005] The technical solution to achieve the above objectives is: One of the present inventions is an intelligent adaptive ship roll reduction system, comprising: The sensing module is used to collect real-time data on ship status, environment, and ballast tank information, and transmit the real-time data to the intelligent core control module via a data bus. The intelligent core control module runs an adaptive ship model predictive control algorithm, which is used for online adaptive updating of the adaptive ship model, real-time estimation of wave disturbances, forward prediction of future motion, and optimized generation of control commands. The execution module is used to receive control commands sent by the intelligent core control module through the data bus, drive the corresponding anti-roll device to generate a stabilizing torque, suppress the ship's roll, and feed back the real-time operating status of the anti-roll device to the intelligent core control module to form a closed-loop control.

[0006] Preferably, the sensing module includes: An inertial measurement unit is used to collect ship motion state data in real time and provide basic motion parameters for adaptive ship models. The ship motion state data includes, but is not limited to, acceleration and angular velocity. The attitude and heading reference system is used to acquire real-time attitude and heading information of the ship as the core feedback data for roll control. The real-time attitude of the ship includes, but is not limited to, roll angle and pitch angle. Global Navigation Satellite System receivers are used to provide data on a ship's position, speed, and heading, and to help determine the ship's navigation status and environmental adaptability. The data interface for communicating with the ship's ballast control system is used to obtain the liquid level and valve status of each ballast tank, monitor changes in the ship's ballast water in real time, and provide a basis for updating the parameters of the adaptive ship model.

[0007] Preferably, the sensing module further includes: The dynamic data calibration subunit is used to perform temperature compensation and installation error calibration on the data acquired by the inertial measurement unit and attitude and heading reference system.

[0008] Preferably, the intelligent core control module includes: An online parameter estimator is used to dynamically identify and update key parameters of the internal adaptive ship model by comparing the predicted and measured values ​​of the ship's roll motion in real time through a dynamic parameter tuning algorithm, ensuring that the adaptive ship model always matches the ship's current actual state; among which, key parameters include, but are not limited to, moment of inertia, damping coefficient, and restoring moment coefficient; Wave observers are used to inversely estimate the direction, frequency, and amplitude of wave disturbance moments currently acting on the hull from the ship's motion response, providing environmental disturbance data for prediction and optimization. The predictive optimizer is used to predict the ship's motion trend over a future period by using the updated adaptive ship model and the disturbance estimated by the wave observer. It then solves the optimal control command that minimizes the objective function through iterative optimization calculations, thus achieving a trade-off between forward control and energy saving. The minimized objective function includes roll amplitude, roll speed, and control energy consumption.

[0009] Preferably, the online parameter estimator uses a recursive least squares algorithm for parameter identification, and the parameter update cycle is synchronized with the system control cycle.

[0010] Preferably, the prediction time domain of the prediction optimizer is set to 2-5 wave cycles, and the weight ratio of the objective function is: roll amplitude weight 50%, control energy consumption weight 30%, and roll speed weight 20%. The weight ratio can be dynamically adjusted according to the ship operation scenario.

[0011] Preferably, the execution module includes at least one anti-roll device actuator, which can be implemented in two ways: The gyro stabilizer actuator drives the precession mechanism motor of the gyro stabilizer, generating a stabilizing torque by changing the precession direction of the gyro. The anti-roll fin actuator is a hydraulic system that drives the anti-roll fins. It generates lift by adjusting the angle of the anti-roll fins, thus forming a stable torque.

[0012] A second aspect of the present invention provides an intelligent adaptive ship roll reduction method, comprising: Step S1: The sensing module continuously collects data on ship movement, speed, heading, and ballast tanks; Step S2: The online parameter estimator dynamically updates the parameters of the internal adaptive ship model based on the latest data collected in step S1. Step S3: The wave observer estimates the current and future wave disturbance moments; Step S4: The prediction optimizer performs prediction and optimization calculations based on the ship model updated in step S2 and the wave disturbance estimated in step S3, and generates the optimal control command. Step S5: Send the control command generated in step S4 to the execution module to drive the anti-roll device to generate a stabilizing torque and suppress the ship's roll. Step S6: Enter the next control cycle, return to step S1, and form a closed-loop control.

[0013] Preferably, in step S2, the parameters of the adaptive ship model include moment of inertia, damping coefficient, and restoring moment coefficient; In step S4, the optimization calculation is achieved by minimizing the objective function, which includes the roll amplitude, roll speed, and control energy consumption.

[0014] Preferably, in step S5, the anti-roll device is a gyro stabilizer or an anti-roll fin.

[0015] Compared with the prior art, the beneficial effects of the present invention are: This invention enables the system to automatically adapt to changes in ship dynamics caused by ballast water variations, free surface effects, and fuel consumption through online parameter estimation, without requiring manual parameter readjustment and always maintaining optimal control performance. This invention employs model predictive control combined with a wave observer, which can predict the ship's rolling trend and wave disturbances in advance, achieve feedforward compensation, overcome the lag of traditional feedback control, and make the roll reduction effect more predictable. The objective function of this invention directly includes an energy consumption term. Under the premise of ensuring the anti-shake effect, the system will intelligently balance performance and energy consumption, automatically select the most economical control strategy, and significantly reduce operating costs. In summary, this invention solves the problem that existing ship roll reduction control technologies cannot adapt to the time-varying ship dynamics model caused by changes in ballast water, free surface effects, and complex sea conditions during ship operation, and achieves high-performance roll reduction and energy-saving control under all operating conditions. Attached Figure Description

[0016] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1 This is a block diagram of the intelligent adaptive ship roll reduction system of the present invention; Figure 2 This is a flowchart of an intelligent adaptive ship roll reduction method according to the present invention. Detailed Implementation

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

[0018] like Figure 1 As shown, the intelligent adaptive ship roll reduction system includes: a sensing module 1, an intelligent core control module 2, and an execution module 3.

[0019] Sensing module 1 is used to collect ship status, environmental data and ballast tank information in real time, and transmit the real-time data to the intelligent core control module through the data bus.

[0020] The sensing module 1 includes: an inertial measurement unit 11, an attitude and heading reference system 12, a global navigation satellite system receiver 13, a data interface 14 for communicating with the ship's ballast control system, and a dynamic data calibration subunit 15; The inertial measurement unit 11 is used to collect ship motion state data in real time and provide basic motion parameters for the adaptive ship model. The ship motion state data includes, but is not limited to, acceleration and angular velocity. The attitude and heading reference system 12 is used to acquire real-time attitude and heading information of the ship as the core feedback data for roll control. The real-time attitude of the ship includes, but is not limited to, roll angle and pitch angle. Global Navigation Satellite System Receiver 13 is used to provide ship position, speed, and heading data to help determine the ship's navigation status and environmental adaptability; The data interface 14, which communicates with the ship's ballast control system, is used to obtain the liquid level and valve status of each ballast tank, monitor changes in ship ballast water in real time, and provide a basis for updating the parameters of the adaptive ship model. The dynamic data calibration subunit 15 is used to perform temperature compensation and installation error calibration on the data acquired by the inertial measurement unit 11 and the attitude and heading reference system 12.

[0021] The intelligent core control module 2 runs an adaptive ship model predictive control algorithm, which is used for online adaptive updating of the adaptive ship model, real-time estimation of wave disturbances, forward prediction of future motion, and optimized generation of control commands.

[0022] The intelligent core control module 2 includes: an online parameter estimator 21, a wave observer 22, and a prediction optimizer 23; The online parameter estimator 21 is used to compare the predicted and measured values ​​of the ship's roll motion in real time through a dynamic parameter tuning algorithm, dynamically identify and update the key parameters of the internal adaptive ship model, and ensure that the adaptive ship model always matches the current actual state of the ship; among which, the key parameters include, but are not limited to, moment of inertia, damping coefficient, and restoring moment coefficient. The online parameter estimator 21 uses a recursive least squares algorithm for parameter identification, and the parameter update cycle is synchronized with the system control cycle. Wave observer 22 is used to estimate the direction, frequency and amplitude of the wave disturbance moment currently acting on the hull from the ship's motion response, providing environmental disturbance data for prediction and optimization; The predictive optimizer 23 is used to predict the ship's motion trend over a future period of time by using the updated adaptive ship model and the disturbance estimated by the wave observer, and solves the optimal control command that minimizes the objective function through iterative optimization calculation, thereby achieving a trade-off between forward control and energy saving; wherein, the minimized objective function includes roll amplitude, roll speed and control energy consumption; The prediction time domain of the predictor optimizer 23 is set to 2-5 wave cycles. The weight ratio of the objective function is: roll amplitude weight 50%, control energy consumption weight 30%, and roll speed weight 20%. The weight ratio can be dynamically adjusted according to the ship operation scenario.

[0023] The execution module 3 is used to receive control commands sent by the intelligent core control module 2 via the data bus, drive the corresponding anti-roll device to generate a stabilizing torque, suppress the ship's roll, and feed back the real-time operating status of the anti-roll device to the intelligent core control module 2 to form a closed-loop control.

[0024] Execution module 3 includes at least one anti-roll device actuator, which can be implemented in two ways: The gyroscope stabilizer actuator 31 drives the precession mechanism motor of the gyroscope stabilizer to generate a stabilizing torque by changing the precession direction of the gyroscope. The anti-roll fin actuator 32 drives the hydraulic system of the anti-roll fin, generating lift by adjusting the angle of the anti-roll fin, thus forming a stable torque.

[0025] like Figure 2 As shown, an intelligent adaptive ship roll reduction method includes: Step S1: Sensing module 1 continuously collects data on ship movement, speed, heading, and ballast tanks; Step S2: The online parameter estimator 21 dynamically updates the parameters of the internal adaptive ship model based on the latest data collected in step S1. The parameters of the adaptive ship model include moment of inertia, damping coefficient, and restoring moment coefficient. Step S3: Wave observer 22 estimates the current and future wave disturbance torque; Step S4: Based on the updated ship model in step S2 and the wave disturbance estimated in step S3, the prediction optimizer 23 performs prediction and optimization calculations to generate the optimal control command. The optimization calculation is achieved by minimizing the objective function, which includes roll amplitude, roll speed and control energy consumption. Step S5: Send the control command generated in step S4 to the execution module 3 to drive the anti-roll device to generate a stabilizing torque and suppress the ship's roll. The anti-roll device is a gyro stabilizer or an anti-roll fin. Step S6: Enter the next control cycle, return to step S1, and form a closed-loop control.

[0026] Finally, it should be noted that the above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An intelligent self-adaptive ship stabilization system, characterized in that, include: The sensing module is used to collect real-time data on ship status, environment, and ballast tank information, and transmit the real-time data to the intelligent core control module via a data bus. The intelligent core control module runs an adaptive ship model predictive control algorithm, which is used for online adaptive updating of the adaptive ship model, real-time estimation of wave disturbances, forward prediction of future motion, and optimized generation of control commands. The execution module is used to receive control commands sent by the intelligent core control module through the data bus, drive the corresponding anti-roll device to generate a stabilizing torque, suppress the ship's roll, and feed back the real-time operating status of the anti-roll device to the intelligent core control module to form a closed-loop control.

2. The intelligent adaptive ship stabilization system of claim 1, wherein, The perception module includes: An inertial measurement unit is used to collect ship motion state data in real time and provide basic motion parameters for adaptive ship models. The ship motion state data includes, but is not limited to, acceleration and angular velocity. The attitude and heading reference system is used to acquire real-time attitude and heading information of the ship as the core feedback data for roll control. The real-time attitude of the ship includes, but is not limited to, roll angle and pitch angle. Global Navigation Satellite System receivers are used to provide data on a ship's position, speed, and heading, and to help determine the ship's navigation status and environmental adaptability. The data interface for communicating with the ship's ballast control system is used to obtain the liquid level and valve status of each ballast tank, monitor changes in the ship's ballast water in real time, and provide a basis for updating the parameters of the adaptive ship model.

3. The intelligent adaptive ship stabilization system of claim 2, wherein, The perception module also includes: The dynamic data calibration subunit is used to perform temperature compensation and installation error calibration on the data acquired by the inertial measurement unit and attitude and heading reference system.

4. The intelligent adaptive ship stabilization system of claim 1, wherein, The intelligent adaptive ship roll reduction system according to claim 1, characterized in that the intelligent core control module includes: An online parameter estimator is used to dynamically identify and update key parameters of the internal adaptive ship model by comparing the predicted and measured values ​​of the ship's roll motion in real time through a dynamic parameter tuning algorithm, ensuring that the adaptive ship model always matches the ship's current actual state; among which, key parameters include, but are not limited to, moment of inertia, damping coefficient, and restoring moment coefficient; Wave observers are used to inversely estimate the direction, frequency, and amplitude of wave disturbance moments currently acting on the hull from the ship's motion response, providing environmental disturbance data for prediction and optimization. The predictive optimizer is used to predict the ship's motion trend over a future period by using the updated adaptive ship model and the disturbance estimated by the wave observer. It then solves the optimal control command that minimizes the objective function through iterative optimization calculations, thus achieving a trade-off between forward control and energy saving. The minimized objective function includes roll amplitude, roll speed, and control energy consumption.

5. The intelligent adaptive ship stabilization system of claim 4, wherein, The online parameter estimator uses a recursive least squares algorithm for parameter identification, and the parameter update cycle is synchronized with the system control cycle.

6. The intelligent adaptive ship stabilization system of claim 4, wherein, The prediction time domain of the predictive optimizer is set to 2-5 wave cycles. The weight ratio of the objective function is: roll amplitude weight 50%, control energy consumption weight 30%, and roll speed weight 20%. The weight ratio can be dynamically adjusted according to the ship operation scenario.

7. The intelligent adaptive ship stabilization system of claim 1, wherein, The execution module includes at least one anti-roll device actuator, which can be implemented in two ways: The gyro stabilizer actuator drives the precession mechanism motor of the gyro stabilizer, generating a stabilizing torque by changing the precession direction of the gyro. The anti-roll fin actuator is a hydraulic system that drives the anti-roll fins. It generates lift by adjusting the angle of the anti-roll fins, thus forming a stable torque.

8. An intelligent adaptive ship stabilization method based on the system of claims 1-7, characterized by, include: Step S1: The sensing module continuously collects data on ship movement, speed, heading, and ballast tanks; Step S2: The online parameter estimator dynamically updates the parameters of the internal adaptive ship model based on the latest data collected in step S1. Step S3: The wave observer estimates the current and future wave disturbance moments; Step S4: The prediction optimizer performs prediction and optimization calculations based on the ship model updated in step S2 and the wave disturbance estimated in step S3, and generates the optimal control command. Step S5: Send the control command generated in step S4 to the execution module to drive the anti-roll device to generate a stabilizing torque and suppress the ship's roll. Step S6: Enter the next control cycle, return to step S1, and form a closed-loop control.

9. A method of intelligent adaptive ship stabilization according to claim 8, characterized in that, In step S2, the parameters of the adaptive ship model include moment of inertia, damping coefficient, and restoring moment coefficient; In step S4, the optimization calculation is achieved by minimizing the objective function, which includes the roll amplitude, roll speed, and control energy consumption.

10. A method of intelligent adaptive ship stabilization according to claim 8, wherein, In step S5, the anti-roll device is a gyro stabilizer or an anti-roll fin.

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