13 results about "Relative wind" patented technology

The invention belongs to the technical field of ship course control, and discloses an unmanned sailboat sail-rudder cooperative active-disturbance-rejection course control method based on ESO, and the method comprises the following steps: building a nonlinear course motion mathematical model; designing a self-adaptive tracking differentiator to smooth the expected course; the course, the yawing angular velocity, the sail aerodynamic moment and the comprehensive disturbance are observed in real time through ESO; based on a nonlinear state error feedback control law, in combination with the output of the tracking differentiator and the observed value of the ESO, generating a rudder torque control quantity, performing constraint processing on the rudder torque control quantity, and outputting a rudder angle instruction; and a dynamic optimal sail angle is decided according to the lift-drag ratio parameter, the apparent wind speed and the relative wind angle of the sail aerodynamic model corrected in real time, and a sail angle instruction is generated after the dynamic optimal sail angle is compensated and constrained by combining the course deviation. The adaptive capacity to the time-varying wind field and the model uncertainty is enhanced, and the anti-interference performance and the energy efficiency of the system are improved through dynamic optimization and compensation of the sail angle.

This automatic takeoff / landing system for a vertical takeoff / landing aircraft comprises: a relative wind information acquisition unit that acquires the direction of relative wind at a moving object; and a control unit that executes takeoff / landing control to cause the vertical takeoff / landing aircraft to takeoff / land at a landing target point provided on the moving object. The control unit, during takeoff / landing of the vertical takeoff / landing aircraft, executes the takeoff / landing control on the basis of the direction of the relative wind acquired by the relative wind information acquisition unit, in a state in which the aircraft heading of the vertical takeoff / landing aircraft is caused to face the direction of the relative wind.

The invention provides a self-adaptive wind feedforward unmanned ship course control system based on active disturbance rejection, and belongs to the technical field of unmanned ship course control. The system comprises an ultrasonic anemometer for collecting relative wind speed and relative wind direction; the gradient descent module outputs compensation gain based on the difference value between the actual course angle and the expected course angle; the wind feedforward module receives the relative wind speed, the relative wind direction and the compensation gain and outputs wind disturbance compensation; the expansion state observer outputs an actual course angle pre-estimated value, an actual course angle differential pre-estimated value and other unknown disturbance pre-estimated values; the non-linear state error feedback unit performs non-linear combination by using the state error to obtain an expected control quantity; the disturbance compensation unit determines the control quantity of the unmanned ship based on the expected control quantity, the wind disturbance compensation and other unknown disturbance estimation values. Rapid compensation of wind disturbance is achieved through self-adaptive wind feedforward control, and the response speed and stability of sailing direction control of the unmanned ship in a complex wind field are stably improved.

A system for controlling aeraulic conditions existing above an aerial arrival zone includes anemometric components and aeraulic components. The anemometric components deliver speed and bearing angle values that characterize a relative wind speed with respect to the aerial arrival zone and to a superstructure located close to the aerial arrival zone. The aeraulic components are capable of modifying air movements above the aerial arrival zone, and are controlled according to the wind speed and bearing angle values. Such a system is particularly suitable for use on board a ship able to carry a helicopter, in particular on its afterdeck.

The present invention relates to the technical field of ships. Disclosed is a method for actual ship sea trail-based evaluation of an EEDI contribution of a wing sail. The method comprises: carrying out an actual ship performance test on a ship equipped with a sail, to obtain the main engine power required for maintaining a target speed when the sail is in different operation states at relative wind angles; on the basis of the main engine power, obtaining sail net thrust test coefficients of the relative wind angles at the target speed; obtaining a sail net thrust simulated coefficient curve of the relative wind angles at the target speed on the basis of a ship four-degree-of-freedom motion model; comparing the sail net thrust simulated coefficient curve with the sail net thrust test coefficients, and establishing a corrected ship four-degree-of-freedom motion model in a sail-hoisted operation state; and on the basis of the ship four-degree-of-freedom motion model in the sail-hoisted operation state and a non-sail ship four-degree-of-freedom motion model, calculating sail thrust matrix elements and a sail EEDI contribution corresponding to a reference speed and any wind field condition combination. The method has the characteristics of being objective, true, operable, etc.

The application discloses a ship fuel consumption prediction and correction method based on AIS and marine environment data, and relates to the technical field of ship fuel consumption prediction, and comprises the following steps: acquiring AIS dynamic data of a target ship and constructing a continuous navigation state sequence; acquiring wind speed, wind direction, flow speed, flow direction and effective wave height at a corresponding moment according to space-time position matching; calculating relative water body speed and relative wind speed based on vector decomposition, and respectively calculating ship body resistance, wind resistance and wave additional resistance; superimposing the three to obtain total resistance; inversely calculating propelling power according to the dynamic relationship between total resistance and relative water body speed; and finally calculating real-time fuel consumption according to the propelling power and a preset main engine fuel consumption rate. The method realizes ship fuel consumption prediction based on a physical model under the condition of no actual measured fuel consumption data. The application realizes high-precision physical model prediction of ship fuel consumption through dynamic coupling and power inversion of AIS and marine environment data under the condition of no actual measured fuel consumption data.

The invention is applicable to the field of marine ship control, and provides a marine ship dynamic positioning method based on an anemorumbometer, which comprises the following steps: S1, acquiring relative wind speed, wind direction and prow azimuth angle, and converting the relative wind speed, wind direction and prow azimuth angle into absolute wind speed / wind direction under a north-east coordinate system through a rotation matrix; s2, recording the initial position as a target point, and setting the reverse direction of the absolute wind direction as a target angle; s3, establishing a north-east coordinate system and calculating longitudinal / transverse / angular deviation; s4, adjusting a rudder angle accelerator by stages, correcting the transverse deviation, stabilizing the longitudinal position and the course in combination with the deviation trend, and adaptively controlling the frequency; s5, GNSS positioning precision and rudder angle feedback are monitored, and an alarm is given and the task is terminated when abnormity occurs; according to the invention, a single-thrust system is adapted, so that the cost and the maintenance pressure are reduced; the wind disturbance resistance is high, and the positioning stability is improved; energy conservation and safety are both considered, and the scene adaptability is wide.

The invention discloses a sail force matrix verification method through a navigation test, and the method comprises the steps: determining the boosting power generated by a sail through the ship speed and the power change of a main engine when the sail is used or not used by a ship. According to the method, a non-dimensional coefficient curve can be fitted by measuring the navigational speed and power data under at least five relative wind direction angles at the same time, so that the non-dimensional coefficient curve obtained by CFD simulation or a wind tunnel test is verified, and the force matrix of the sail is verified at the same time. According to the invention, the dynamic stress data of the sail in real navigation can be directly obtained, the real marine environment is simulated, and the verification data is more accurate. The sail force matrix is reversely deduced through actual ship test data, and the iteration period of sail design can be greatly shortened.

This invention discloses a method for coordinated control of wind and wave stability and heading of a variable-sail unmanned surface vessel (USV), comprising the following steps: S1: Real-time acquisition of multi-source environmental parameters through an onboard sensor system, and calculation of the relative wind speed vector based on the current sea state level; S2: Determination of the USV's operating mode identifier based on the sea state level, relative wind speed vector, and preset rules, and outputting the corresponding initial sail configuration; S3: Construction of a multi-parameter dynamic model based on the multi-source environmental parameters and the initial sail configuration; S4: Generation of control commands satisfying multi-objective optimization based on the multi-parameter dynamic model; S5: Distribution of control commands to the sail actuator and propulsion and rudder control systems, wherein the sail actuator is used to adjust the sail's windward area A and angle of attack. This invention, by constructing a multi-parameter dynamic model, facilitates adaptive and multi-objective coordinated control of the sail configuration based on real-time wind, wave, and current environments and the vessel's state.

The invention discloses an emergency rescue method based on Beidou communication and conduction integrated fusion. The method comprises the steps that S1, an airborne terminal obtains motion state data and environment data in the parachuting process of a pilot; s2, compressing the collected data, and sending the compressed data to a rescue command center through a Beidou short message channel; and S3, the rescue command center decompresses the compressed data, combines the motion state data and the environment data, and uses a prediction model to calculate the landing point of the pilot. According to the method, the relative wind speed vector measured by the airborne sensor is acquired in real time, and high-frequency attitude matrix transformation is combined, so that the problem of lateral deviation caused by a high-altitude complex wind field is effectively solved, the prediction precision of the landing drop point is remarkably improved, and the problem of huge deviation of the calculated drop point caused by wind speed interference is solved. Through relative differential compression and a self-adaptive LSB quantization mechanism, it is ensured that high-dynamic trajectory details of more than 10 Hz can still be completely restored under extremely low bandwidth limitation.

The invention discloses a thrust characteristic forecasting and corner control method for a sail-ship integrated system. The thrust characteristic forecasting and corner control method comprises the steps of determining a single sail thrust characteristic curve of each sail type and a sail ship integrated system total thrust characteristic curve family of each sail type, solving coupling parameters between a single sail and a sail ship, and determining a sail ship integrated system thrust characteristic forecasting model. And determining single sail thrust characteristics of the new sail type, and substituting all relative wind direction angles and sail rotation angles into the forecasting model to calculate and obtain a sailboat integrated system total thrust characteristic curve family under the new sail type. And determining a thrust characteristic curve of the bare ship, and obtaining a net thrust characteristic curve family of the sailboat under the new sail type by subtracting the total thrust characteristic of the sailboat from the thrust characteristic of the bare ship. For any relative wind direction angle, the extreme value of the net thrust characteristics under different sail rotation angles is solved, the thrust extreme value under the wind direction angle is obtained, and the sail rotation angle corresponding to the thrust extreme value serves as the sail control rotation angle. According to the method, the influence trend of the new sail type on the sailboat integrated system can be qualitatively given, the analysis efficiency is improved, and the resource consumption caused by repeatedly carrying out CFD analysis and model tests to demonstrate the sail type influence is reduced.

The present application provides a kind of ship standard height wind speed correction model construction method, medium and system, belong to ship standard height wind speed correction model construction technical field, the present application is by multi-antenna beidou array acquisition carrier phase difference observation data, space baseline network is modeled as weighted undirected graph, introduce wave age parameter dynamic adjustment zanok coefficient and impose gikhonov regularization constraint to obtain sea roughness, fusion obtains the altitude of wind sensor;Original relative wind speed is input into neural-kalman hybrid filter network, covariance self-adaptive estimation is estimated using artificial intelligence, and inner loop is refined iteration to complete nonlinear folding of logarithmic wind profile, and finally corrected wind speed is output after adaptive kalman filtering, solve the technical problem that wind speed height folding error is difficult to real-time accurate compensation caused by dynamic change of ship wind sensor height.

The application belongs to the technical field of ship course control, and discloses an unmanned sailboat rudder and sail collaborative self-disturbance rejection course control method based on ESO, which comprises the following steps: establishing a nonlinear course motion mathematical model; designing an adaptive tracking differentiator to smooth the expected course; using ESO to observe the course, yaw angular velocity, sail aerodynamic moment and comprehensive disturbance in real time; based on a nonlinear state error feedback control law, combining the output of the tracking differentiator and the observation value of the ESO, generating a rudder moment control quantity, outputting a rudder angle instruction after constraint processing of the rudder moment control quantity; according to the lift-drag ratio parameter of the sail aerodynamic model after real-time correction, the apparent wind speed and the relative wind angle, deciding a dynamic optimal sail angle, combining the course deviation to compensate and constrain the dynamic optimal sail angle, and generating a sail angle instruction. The application enhances the adaptability to time-varying wind field and model uncertainty, and improves the anti-disturbance performance and energy efficiency of the system through dynamic optimization and compensation of the sail angle.