Flexible propulsion system with electromagnetic and inertial hybrid drive and optimized design method

Abstract

The application discloses a flexible propulsion system of electromagnetic and inertial hybrid driving and an optimization design method, and belongs to the technical field of high-speed electromagnetic propulsion. The application constructs a flexible propulsion system of electromagnetic and inertial hybrid driving. Through power distribution of an electromagnetic driving unit and an inertial energy storage unit, peak power can be filled and valley power can be cut, and heavy-load high-speed propulsion can be completed under the premise of motor torque limitation. The application deduces a calculation method of motor peak power under motor pull limitation, proposes an optimization design method based on optimal flywheel equivalent translation mass for power distribution of the electromagnetic driving unit and the inertial energy storage unit, and realizes optimal electromagnetic and inertial link matching.

Description

Technical Field

[0001] This invention belongs to the field of high-speed electromagnetic propulsion technology, specifically relating to a flexible propulsion system and optimization design method driven by a hybrid electromagnetic and inertial system. Background Technology

[0002] During the operation of the flexible electromagnetic propulsion system, as the propelled equipment moves toward the midpoint of the track, the angle between the flexible traction rope and the direction of travel of the equipment gradually decreases. In order to maintain a constant operating acceleration of the equipment, the thrust output of the drive motor in the flexible electromagnetic propulsion system will increase sharply. The motor and supporting power components need to be selected and designed according to the peak thrust, resulting in a large redundancy in the overall size and weight of the system, which seriously restricts the improvement of the system's thrust density.

[0003] Existing electromagnetic propulsion systems do not address the thrust spike problem caused by the reduction in the included angle during flexible cable traction, nor do they optimize thrust peak reduction for the flexible traction geometry, making it difficult to meet the design requirements for high thrust density. Therefore, there is an urgent need to propose a flexible propulsion system and its optimization design method to solve the above problems. Summary of the Invention

[0004] To address the aforementioned technical problems, this invention provides a flexible propulsion system and optimization design method that combines electromagnetic and inertial hybrid drive. This system can accelerate the propelled object to a specified speed within a limited distance while achieving high thrust density, thus meeting the high thrust density design requirements of flexible propulsion systems.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] In a first aspect, the present invention provides an optimized design method for a flexible propulsion system with hybrid electromagnetic and inertial drive, the flexible propulsion system comprising an electromagnetic drive unit and an inertial energy storage unit; the electromagnetic drive unit comprising an electromagnetic motor; the inertial energy storage unit comprising a flywheel energy storage device; the flexible propulsion system being connected to the object being propelled via a flexible rope; the method comprising:

[0007] Calculate the average acceleration of the propelled object based on its starting position, ending position, and launch velocity at the ending position.

[0008] The tension of the flexible rope is calculated based on the average acceleration of the propelled object, the mass of the propelled object, and the angle between the flexible rope and the vertical direction; the vertical direction is perpendicular to the direction of travel of the propelled object.

[0009] Based on the average acceleration of the propelled object, the velocity of the propelled object, the angle between the flexible rope and the vertical direction, and the vertical distance between the flexible propulsion system and the propelled object, the contraction speed of the flexible rope and the rate of change of the contraction speed over time are calculated.

[0010] Calculate the additional force on the motor based on the rate of change of the contraction speed over time and the equivalent translational mass of the flywheel;

[0011] The tension of the electromagnetic motor is calculated based on the tension of the flexible rope and the additional force of the motor.

[0012] The power of the electromagnetic motor is calculated based on the tension of the electromagnetic motor and the contraction speed of the flexible rope.

[0013] Starting from the starting position of the object being propelled, the electromagnetic motor pulling force and electromagnetic motor power at each position during the movement of the object being propelled are obtained according to the above calculation process.

[0014] With the constraint that the peak tension of the electromagnetic motor does not exceed the maximum allowable tension of the motor, and with the goal of minimizing the peak power of the electromagnetic motor, the optimal equivalent translational mass of the flywheel is determined by parametric scanning.

[0015] Power is allocated to the electromagnetic motor and the flywheel energy storage device based on the optimal equivalent translational mass of the flywheel.

[0016] Secondly, the present invention provides a flexible propulsion system with hybrid electromagnetic and inertial drive, including a control unit, an electromagnetic drive unit, an inertial energy storage unit, and a flexible traction mechanism; the electromagnetic drive unit includes an electromagnetic motor; the inertial energy storage unit includes a flywheel energy storage device; the flexible traction mechanism includes a flexible rope, and the flexible propulsion system is connected to the object being propelled through the flexible rope;

[0017] The control unit is used to allocate power to the electromagnetic motor and the flywheel energy storage device according to the optimal equivalent translational mass of the flywheel;

[0018] The electromagnetic drive unit is used to output thrust according to the allocated electromagnetic motor power to drive the object being propelled.

[0019] The inertial energy storage unit is used to store and release energy according to the allocated power of the flywheel energy storage device in order to smooth out power fluctuations.

[0020] The optimal flywheel equivalent translational mass is obtained based on the optimization design method of the above-mentioned flexible propulsion system driven by a hybrid electromagnetic and inertial system.

[0021] The beneficial effects of this invention are as follows:

[0022] This invention significantly reduces the peak power and peak tension of the electromagnetic drive unit by configuring an inertial energy storage unit, providing a new solution for the lightweight design of flexible propulsion systems. Attached Figure Description

[0023] Figure 1 This is a flowchart illustrating the optimization design method for the electromagnetic and inertial hybrid driven flexible propulsion system of the present invention.

[0024] Figure 2 This is a schematic diagram of the structure of the flexible propulsion system driven by a hybrid electromagnetic and inertial system according to the present invention.

[0025] Figure 3 This is a schematic diagram of the structure of a flexible propulsion system driven by a hybrid electromagnetic and inertial system according to an embodiment of the present invention.

[0026] Figure 4 The curves showing the variation of the motor's peak power under different K values ​​(i.e., the equivalent translational mass of the flywheel) in the embodiments of the present invention are shown.

[0027] Figure 5 The curves showing the variation of peak tension of the motor under different K values ​​in the embodiments of the present invention are shown.

[0028] Figure 6 This is a curve showing the change in peak motor power within a preferred K value range in this embodiment of the invention. Detailed Implementation

[0029] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0030] The term “exemplary” as used herein means “serving as an example, embodiment, or illustration.” Any embodiment illustrated herein as “exemplary” is not necessarily to be construed as superior to or better than other embodiments.

[0031] The terms “first”, “second”, etc., are used to distinguish similar objects, not to describe or indicate a specific order or sequence.

[0032] The term "comprising" or any other similar term is intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus / device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent in such process, method, article, or apparatus / device.

[0033] Furthermore, to better illustrate the present invention, numerous specific details are provided in the following detailed embodiments. Those skilled in the art should understand that the present invention can be practiced without certain specific details. In some instances, methods, means, elements, and circuits well known to those skilled in the art have not been described in detail in order to highlight the spirit of the invention.

[0034] This invention proposes an optimized design method for a flexible propulsion system with hybrid electromagnetic and inertial drive. The flexible propulsion system includes an electromagnetic drive unit and an inertial energy storage unit. The electromagnetic drive unit includes an electromagnetic motor. The inertial energy storage unit includes a flywheel energy storage device. The flexible propulsion system is connected to the object being propelled via a flexible rope.

[0035] Figure 1 The flowchart shows the optimization design method of the electromagnetic and inertial hybrid driven flexible propulsion system of the present invention. Figure 1 As shown, the method includes:

[0036] Step 1: Calculate the average acceleration of the propelled object based on its starting position, ending position, and launch velocity at the ending position.

[0037] Step 2: Calculate the tension of the flexible rope based on the average acceleration of the propelled object, the mass of the propelled object, and the angle between the flexible rope and the vertical direction; the vertical direction is perpendicular to the direction of travel of the propelled object.

[0038] Step 3: Based on the average acceleration of the propelled object, the velocity of the propelled object, the angle between the flexible rope and the vertical direction, and the vertical distance between the flexible propulsion system and the propelled object, calculate the contraction speed of the flexible rope and the rate of change of the contraction speed over time.

[0039] Step 4: Calculate the additional force on the motor based on the rate of change of the contraction speed over time and the equivalent translational mass of the flywheel;

[0040] Step 5: Calculate the tension of the electromagnetic motor based on the tension of the flexible rope and the additional force of the motor;

[0041] Step 6: Calculate the power of the electromagnetic motor based on the tension of the electromagnetic motor and the contraction speed of the flexible rope;

[0042] Step 7: Starting from the starting position of the object being propelled, perform numerical integration according to the above calculation process to obtain the pulling force and power of the electromagnetic motor at each position during the movement of the object being propelled.

[0043] Step 8: With the constraint that the peak tension of the electromagnetic motor does not exceed the maximum allowable tension of the motor, and with the goal of minimizing the peak power of the electromagnetic motor, determine the optimal equivalent translational mass of the flywheel through parametric scanning;

[0044] Step 9: Allocate power to the electromagnetic motor and the flywheel energy storage device according to the optimal flywheel equivalent translational mass.

[0045] For example, the flexible propulsion system includes two power mechanisms, each consisting of an electromagnetic drive unit and an inertial energy storage unit; each power mechanism is connected to the object being propelled via a flexible rope, and the angle between the flexible rope corresponding to each power mechanism and the vertical direction is equal; the method further includes: establishing a rectangular coordinate system with the midpoint of the line connecting the positions of the two power mechanisms as the origin, the direction of travel of the object being propelled as the positive x-axis, and the vertically upward direction as the positive y-axis.

[0046] Figure 2 This is a schematic diagram of the structure of the electromagnetic and inertial hybrid driven flexible propulsion system of the present invention, as shown below. Figure 2 As shown, the flexible propulsion system includes a control unit (i.e., Figure 2 The system comprises a controller, an electromagnetic drive unit, an inertial energy storage unit, and a flexible traction mechanism; the electromagnetic drive unit includes an electromagnetic motor; the inertial energy storage unit includes a flywheel energy storage device; and the flexible traction mechanism includes a flexible rope, through which the flexible propulsion system is connected to the object being propelled.

[0047] The control unit is used to allocate power to the electromagnetic motor and the flywheel energy storage device according to the optimal equivalent translational mass of the flywheel;

[0048] An electromagnetic drive unit is used to output thrust according to the allocated electromagnetic motor power to drive the object being propelled.

[0049] Inertial energy storage unit is used to store and release energy according to the allocated power of the flywheel energy storage device in order to smooth out power fluctuations;

[0050] The optimal equivalent translational mass of the flywheel is obtained based on the optimization design method of the above-mentioned flexible propulsion system driven by a hybrid electromagnetic and inertial system.

[0051] For example, the flexible propulsion system includes two power mechanisms, each consisting of an electromagnetic drive unit and an inertial energy storage unit; each power mechanism is connected to the object being propelled via a flexible rope, and the angle between the flexible rope corresponding to each power mechanism and the vertical direction is equal.

[0052] For example, the flexible propulsion system also includes a coordinate system positioning unit, which is used to establish a rectangular coordinate system with the midpoint of the line connecting the positions of the two power mechanisms as the origin, the direction of travel of the object being propelled as the positive x-axis, and the vertically upward direction as the positive y-axis.

[0053] like Figure 2 As shown, when the flexible propulsion system of the present invention is working, the control unit (i.e. Figure 2The controller sends control signals to the electromagnetic drive unit to allocate power to the electromagnetic motor. The electromagnetic drive unit, on the one hand, outputs corresponding thrust based on the received control signals, and on the other hand, collects information such as current and speed from the electromagnetic drive unit and the flexible traction mechanism (i.e.,...). Figure 2 The electromagnetic drive unit is connected (physically connected) to the flexible traction mechanism and the inertial energy storage unit. The flexible traction mechanism can buffer the transmission impact and ensure a smooth and stable load traction process. The inertial energy storage unit relies on inertial characteristics to complete the storage and release of energy and smooth power fluctuations. The two also form a mechanical linkage with the electromagnetic drive unit in the opposite direction. Finally, the entire flexible propulsion system can take into account the comprehensive performance of efficient power output, energy peak shaving and valley filling and flexible vibration reduction transmission under the precise closed-loop control of the control unit, and achieve stable, reliable and dynamic response integrated operation.

[0054] The electromagnetic and inertial hybrid driven flexible propulsion system and its optimization design method of the present invention will be described in detail below with reference to the accompanying drawings and embodiments.

[0055] Figure 3 This is a schematic diagram of the structure of a flexible propulsion system driven by a hybrid electromagnetic and inertial system according to an embodiment of the present invention, as shown below. Figure 3 As shown, the flexible propulsion system of this embodiment includes two power mechanisms, each consisting of an electromagnetic drive unit and an inertial energy storage unit; each electromagnetic drive unit includes an electromagnetic motor, and each inertial energy storage unit includes a flywheel energy storage device. Each power mechanism is connected to the object being propelled via a flexible rope, and the angle between the flexible rope corresponding to each power mechanism and the vertical direction (i.e., Figure 3 In (Angles) are equal.

[0056] The flexible propulsion system of this embodiment further includes a coordinate system positioning unit, which is used to take the midpoint of the line connecting the positions of the two power mechanisms as the origin (i.e. Figure 3 (Point O in the diagram), with the direction of the object being propelled as the positive x-axis (horizontally to the right) and the vertically upward direction as the positive y-axis, establish a rectangular coordinate system, and use this rectangular coordinate system as the reference for motion and force analysis.

[0057] The flexible propulsion system of this invention also includes a control unit, which is used to allocate power to the electromagnetic motor and the flywheel energy storage device according to the optimal flywheel equivalent translational mass.

[0058] by Figure 3 Taking the electromagnetic and inertial hybrid driven flexible propulsion system shown as an example, assume the mass of the object being propelled is... The x-coordinate of the starting position of the propelled object is The x-coordinate of the endpoint is The launch velocity (i.e., exit velocity) of the propelled object at the final position is The distance from the power mechanism to the x-axis (also known as the traction half-width, which is a fixed value) is: The maximum acceleration of the propelled object is (The acceleration of the propelled object must not be too great, otherwise it will be easily damaged.) (This can be determined based on the characteristics of the propelled object), the maximum allowable pulling force of the motor is... ( Determined by the characteristics of the motor itself, The larger the value, the greater the power, mass, and volume of the corresponding electromagnetic drive unit. A suitable motor can be selected based on the system's lightweight and economic requirements. The optimization design method of this invention can be equivalently described as solving for the position of the propelled object at each location during its movement. Angle, flexible rope contraction speed Rate of change of flexible rope contraction speed over time Electromagnetic motor tension Electromagnetic motor power The problem. Because this problem involves state variables. (x-axis coordinates of the object being propelled at various positions during its movement) (Velocity of the propelled object at various locations during its movement) and control variables (The acceleration of the propelled object at various locations during its movement), and and , , The relevant problem can be solved by discretization using the direct method.

[0059] The optimization design method for a flexible propulsion system driven by a hybrid electromagnetic and inertial system according to embodiments of the present invention includes the following steps:

[0060] Step 1: Calculate the average acceleration of the propelled object based on its starting position, ending position, and launch velocity at the ending position.

[0061] The distance traveled by the object being propelled (i.e., the distance traveled by the object on the x-axis from...) Exercise The distance traveled is divided into N equal segments. Assuming the acceleration within each segment is constant (i.e., the object being propelled undergoes uniformly accelerated linear motion in each segment), and the velocity of the object being propelled at the starting position is 0, the average acceleration of the object being propelled can be approximated. :

[0062] (1)

[0063] in, Let V be the launch velocity of the propellant at the final position. To increase the distance, , Let x be the x-coordinate of the starting position of the object being propelled. The x-coordinate of the endpoint of the propelled object.

[0064] Step 2: Calculate the tension of the flexible rope based on the average acceleration of the object being propelled, the mass of the object being propelled, and the angle between the flexible rope and the vertical direction; the vertical direction is perpendicular to the direction of travel of the object being propelled.

[0065] The angle between the flexible rope and the vertical direction is... Figure 3 shown Angle, during the movement of the propelled object, The angle will gradually decrease, and the corresponding angle at each position of the propelled object during its movement will be... The calculation formula is:

[0066] (2)

[0067] in, Let x be the x-coordinate of the object being propelled at each position during its movement. The traction half-width (i.e., the distance from the power mechanism to the x-axis).

[0068] The tension of the flexible ropes at various locations during the movement of the propelled object The calculation formula is:

[0069] (3)

[0070] in, The mass of the propelled object.

[0071] Step 3: Based on the average acceleration of the propelled object, the velocity of the propelled object, the angle between the flexible rope and the vertical direction, and the vertical distance between the flexible propulsion system and the propelled object, calculate the contraction speed of the flexible rope and the rate of change of the contraction speed of the flexible rope with time.

[0072] The vertical distance between the flexible propulsion system and the object being propelled includes the traction half-width. The contraction speed of the flexible rope at each position during the movement of the propelled object. for:

[0073] (4)

[0074] in, The velocity of the object being propelled at various locations during its movement.

[0075] The contraction speed of the flexible rope at each position during the movement of the propelled object Over time rate of change for:

[0076] (5)

[0077] Step 4: Calculate the additional force of the motor based on the rate of change of the flexible rope contraction speed with time and the equivalent translational mass of the flywheel.

[0078] Additional motor force at various positions during the movement of the propelled object The calculation formula is:

[0079] (6)

[0080] in, The flywheel's equivalent translational mass is expressed in kg. The additional force from the motor is also considered. This refers to the additional force applied to the flexible traction mechanism.

[0081] Step 5: Calculate the tension of the electromagnetic motor based on the tension of the flexible rope and the additional force of the motor.

[0082] The flexible propulsion system of this invention satisfies the dynamic topology optimization equation (i.e., during the movement of the propelled object, the electromagnetic motor tension is the sum of the flexible rope tension and the motor's additional force). Based on the dynamic topology optimization, the electromagnetic motor tension at each position during the movement of the propelled object can be obtained. for:

[0083] (7)

[0084] Step 6: Calculate the power of the electromagnetic motor based on the tension of the electromagnetic motor and the retraction speed of the flexible rope.

[0085] The power of the electromagnetic motor at each position during the movement of the propelled object (i.e., the output power of each electromagnetic motor in the power mechanism). for:

[0086] (8)

[0087] Step 7: Starting from the starting position of the object being propelled, obtain the electromagnetic motor pulling force and electromagnetic motor power at each position during the movement of the object being propelled, based on the above calculation process.

[0088] Based on the x-axis coordinate of the initial position of the propelled object and the average acceleration of the propelled object By performing numerical integration starting from the initial position of the propelled object, the values ​​at each position during the object's movement can be obtained. and Then, based on the above steps, the corresponding values ​​at each location can be calculated. , , , , .

[0089] Step 8: With the constraint that the peak tension of the electromagnetic motor does not exceed the maximum allowable tension of the motor, and with the goal of minimizing the peak power of the electromagnetic motor, determine the optimal equivalent translational mass of the flywheel through parametric scanning.

[0090] Set the equivalent translational mass of the flywheel The value range and step size are set, and the value is taken within the range according to the set step size. Values, calculated point by point The values ​​correspond to the electromagnetic motor's pulling force and power, ensuring that the peak pulling force of the electromagnetic motor does not exceed the motor's maximum allowable pulling force. As a constraint, with the goal of minimizing the peak power of the electromagnetic motor, the optimal [engine / motor] is determined. Value range and optimal value.

[0091] Step 9: Allocate power to the electromagnetic motor and the flywheel energy storage device based on the optimal equivalent translational mass of the flywheel.

[0092] Control unit according to optimal The corresponding electromagnetic motor power is allocated to the electromagnetic motors within each power mechanism. Based on the required propulsion power and the electromagnetic motor power, power is also allocated to the flywheel energy storage device within each power mechanism, ensuring that the sum of the electromagnetic motor power and the flywheel energy storage device power meets the propulsion power requirement. Thus, when the required propulsion power is low, and the thrust output by the motor exceeds the thrust required for the current acceleration of the propelled object, the flywheel energy storage device can store energy to absorb the excess power (i.e., store a portion of the motor's thrust in the flywheel energy storage device), ensuring that even when the motor outputs maximum thrust, the acceleration of the propelled object will not exceed the maximum acceleration. When the required propulsion power increases and the thrust output of the motor cannot meet the thrust required for the current acceleration of the propelled object, the flywheel energy storage device can release energy to fill the power gap (i.e., supplement the required thrust). This invention can achieve power peak shaving and valley filling by setting up an inertial energy storage unit.

[0093] This invention constructs a flexible propulsion system with hybrid electromagnetic and inertial drive. By allocating power between the electromagnetic drive unit and the inertial energy storage unit, peak power shaving and valley filling are achieved, enabling heavy-load, high-speed propulsion under motor torque limitations. This invention derives a method for calculating the peak power of the motor under motor tension limitations and proposes an optimized design method for allocating power between the electromagnetic drive unit and the inertial energy storage unit based on the optimal equivalent translational mass of the flywheel, achieving the optimal ratio of electromagnetic and inertial components.

[0094] Figure 4 The figures show the curves of the motor peak power variation under different K values ​​in this embodiment of the invention. Figure 5 This is a curve showing the variation of the peak tension of the motor under different K values ​​in an embodiment of the present invention. Figure 4 , Figure 5 As shown, the peak power of the motor exhibits a trend of first rapidly decreasing and then slowly increasing with the increase of the K value, and the curve of the peak power change shows a clear "U" shape. The constraint is that the peak tension of the motor (i.e., the upper limit of the tension) does not exceed 15 kN. Within the range of K values ​​that meet the constraint, the peak power of the motor reaches its minimum value (i.e., the pentagram mark in the figure) near K=170 kg, that is, the optimal K value is 170 kg. At this time, the peak power of the motor is approximately 370.94 kW, and the peak tension of the motor is approximately 14.78 kN (meeting the ≤15 kN requirement). Compared with the traditional scheme without inertial links (K=0), after adopting K=170 kg, the peak tension of the motor is reduced from the excessive value to the safe range, and the peak power of the motor is significantly reduced.

[0095] When K=170 kg, the peak power of the motor is approximately 370.94 kW; when K=165 kg, the peak power is approximately 372.5 kW; and when K=175 kg, the peak power is approximately 372.1 kW. K=170 kg is a strict minimum value. The power variation is gradual near this minimum value, indicating that within the range of K=168–172 kg, the increase in peak power does not exceed 0.5 kW, which is acceptable in engineering and provides a margin for flywheel manufacturing tolerances.

[0096] When K < 170 kg and K ≥ 182 kg, the peak motor tension > 15 kN, indicating motor overload; when 170 kg ≤ K < 182 kg, the peak motor tension ≤ 15 kN, satisfying the constraint. At K = 170 kg, the peak motor tension is approximately 14.78 kN, leaving a safety margin of approximately 1.46%, which satisfies the constraint without excessively increasing the flywheel inertia and causing other performance degradation. Figure 4 and Figure 5 The curve shown verifies that the present invention can precisely control the peak tension of the motor by adjusting the K value, so that it falls within a safe range, while providing a feasible domain boundary for minimizing the peak power of the motor in the future.

[0097] Figure 6 This is a curve showing the variation of the motor's peak power within the preferred K value range in this embodiment of the invention. Figure 6 for Figure 4 A magnified view of a local area within the optimal K-value range. For example... Figure 6 As shown, the preferred K value range is 170–182 kg, with a step size of 2 kg. From Figure 6The following conclusion can be drawn: within the preferred K value range, the peak power of the motor increases basically linearly with the change of K value.

[0098] The contents not described in detail in this specification are existing technologies known to those skilled in the art.

[0099] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the present invention. The above descriptions are exemplary and not exhaustive. 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. A method for the optimal design of a flexible propulsion system with electromagnetic and inertial hybrid drive, characterized by, The flexible propulsion system includes an electromagnetic drive unit and an inertial energy storage unit; the electromagnetic drive unit includes an electromagnetic motor; the inertial energy storage unit includes a flywheel energy storage device. The flexible propulsion system is connected to the object being propelled via a flexible rope; the method includes: Calculate the average acceleration of the propelled object based on its starting position, ending position, and launch velocity at the ending position. The tension of the flexible rope is calculated based on the average acceleration of the propelled object, the mass of the propelled object, and the angle between the flexible rope and the vertical direction; the vertical direction is perpendicular to the direction of travel of the propelled object. Based on the average acceleration of the propelled object, the velocity of the propelled object, the angle between the flexible rope and the vertical direction, and the vertical distance between the flexible propulsion system and the propelled object, the contraction speed of the flexible rope and the rate of change of the contraction speed over time are calculated. Calculate the additional force on the motor based on the rate of change of the contraction speed over time and the equivalent translational mass of the flywheel; The tension of the electromagnetic motor is calculated based on the tension of the flexible rope and the additional force of the motor. The power of the electromagnetic motor is calculated based on the tension of the electromagnetic motor and the contraction speed of the flexible rope. Starting from the starting position of the object being propelled, the electromagnetic motor pulling force and electromagnetic motor power at each position during the movement of the object being propelled are obtained according to the above calculation process. With the constraint that the peak tension of the electromagnetic motor does not exceed the maximum allowable tension of the motor, and with the goal of minimizing the peak power of the electromagnetic motor, the optimal equivalent translational mass of the flywheel is determined by parametric scanning. Power is allocated to the electromagnetic motor and the flywheel energy storage device based on the optimal equivalent translational mass of the flywheel.

2. The method of optimizing design of claim 1, wherein, The flexible propulsion system includes two power mechanisms, each consisting of an electromagnetic drive unit and an inertial energy storage unit; each power mechanism is connected to the object being propelled via a flexible rope, and the angle between the flexible rope corresponding to each power mechanism and the vertical direction is equal. The method further includes: A rectangular coordinate system is established with the midpoint of the line connecting the positions of the two power mechanisms as the origin, the direction of travel of the propelled object as the positive x-axis, and the vertically upward direction as the positive y-axis.

3. The method of optimizing design of claim 2, wherein, Assuming the velocity of the propelled object at the initial position is 0, the formula for calculating the average acceleration of the propelled object is: ； in, The average acceleration of the propelled object. The launch velocity of the propellant at the final position; To increase the distance, , Let x be the x-coordinate of the starting position of the object being propelled. The x-axis coordinate is the endpoint position of the propelled object.

4. The optimization design method according to claim 3, characterized in that, The formula for calculating the tension of the flexible rope is: ； in, The tension of the flexible rope; The mass of the propelled object; The angle between the flexible rope and the vertical direction is denoted as .

5. The optimization design method according to claim 4, characterized in that, The vertical distance between the flexible propulsion system and the object being propelled includes the distance from the power mechanism to the x-axis; The formula for calculating the contraction speed of the flexible rope is: ； in, The contraction speed of the flexible rope; The velocity of the propelled object; The formula for calculating the rate of change of the contraction speed over time is: ； in, The rate of change of the contraction speed over time; The distance from the power mechanism to the x-axis is denoted as .

6. The optimization design method according to claim 5, characterized in that, The formula for calculating the additional force of the motor is: ； in, Apply force to the motor; Let f be the equivalent translational mass of the flywheel.

7. The optimization design method according to claim 6, characterized in that, The formula for calculating the tension of the electromagnetic motor is: ； in, The tension of the electromagnetic motor is denoted as .

8. The optimization design method according to claim 7, characterized in that, The formula for calculating the power of the electromagnetic motor is: ； in, The power of the electromagnetic motor is given.

9. A flexible propulsion system driven by a hybrid electromagnetic and inertial system, characterized in that, It includes a control unit, an electromagnetic drive unit, an inertial energy storage unit, and a flexible traction mechanism; the electromagnetic drive unit includes an electromagnetic motor; the inertial energy storage unit includes a flywheel energy storage device; the flexible traction mechanism includes a flexible rope, and the flexible propulsion system is connected to the object being propelled through the flexible rope; The control unit is used to allocate power to the electromagnetic motor and the flywheel energy storage device according to the optimal equivalent translational mass of the flywheel; The electromagnetic drive unit is used to output thrust according to the allocated electromagnetic motor power to drive the object being propelled. The inertial energy storage unit is used to store and release energy according to the allocated power of the flywheel energy storage device in order to smooth out power fluctuations. The optimal flywheel equivalent translational mass is obtained by the optimization design method according to any one of claims 1-8.

10. The flexible propulsion system according to claim 9, characterized in that, The flexible propulsion system includes two power mechanisms, each consisting of an electromagnetic drive unit and an inertial energy storage unit; each power mechanism is connected to the object being propelled via a flexible rope, and the angle between the flexible rope corresponding to each power mechanism and the vertical direction is equal. The flexible propulsion system also includes a coordinate system positioning unit, which is used to establish a rectangular coordinate system with the midpoint of the line connecting the positions of the two power mechanisms as the origin, the direction of travel of the object being propelled as the positive x-axis, and the vertically upward direction as the positive y-axis.

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