CN-121973909-A - Ship air sail navigational aid energy efficiency dynamic optimization method

Abstract

The application relates to the technical field of ship engineering, in particular to a ship air sail navigational aid energy efficiency dynamic optimization method which comprises the steps of establishing a dynamic and pneumatic coordinate system by utilizing the center of gravity of a ship and a sail origin, acquiring thrust coupling vectors in parallel, acquiring real-time operation characteristics by means of a sensor, splitting a data set according to working condition conversion points and calculating single-period energy efficiency fluctuation deviation, determining an energy efficiency loss accumulation factor according to deviation time sequences and the thrust vectors, identifying multi-sail cooperative energy efficiency transmission characteristics, and correcting the thrust coupling vectors in real time based on the accumulation factor so as to adjust air sail operation parameters of the next period. The application can effectively avoid the influence of signal noise, sensor drift and working condition coupling interference, obviously improve the navigation-aiding regulation and control precision and energy efficiency gain of the air sail, ensure the matching work efficiency of the multi-sail combination and the host, reduce the energy efficiency fluctuation loss and improve the navigation stability of the ship.

Inventors

• SUN BO
• WANG YONG
• PENG WU

Assignees

• 天津瀚隆科技有限公司

Dates

Publication Date

20260505

Application Date

20260401

Claims (10)

1. 1. The method for dynamically optimizing the navigation aid energy efficiency of the ship air sail is characterized by comprising the following steps of: S1, establishing a ship dynamic coordinate system by using the gravity center position of a ship, and establishing an air sail pneumatic coordinate system by using the initial installation axis of an air sail as a sail origin, wherein the ship comprises a host system and a multi-sail combined structure; s2, carrying out coordinate system co-operation processing by utilizing the ship dynamic coordinate system and the air sail pneumatic coordinate system to obtain mutually-directed thrust coupling vectors, and dividing the thrust coupling vectors into an initial state to be optimized; S3, performing navigational aid thrust output on the ship by utilizing the air sail according to the initial state to be optimized, and respectively acquiring real-time operation data of the ship in the operation process based on the assistance of the multi-source sensor so as to acquire real-time operation characteristics of the ship, wherein the real-time operation characteristics are navigation attitude characteristics of the ship and pneumatic characteristics of the air sail; S4, dividing the real-time operation characteristics into a plurality of data sets respectively containing single sailing conditions based on gesture conversion points of the working conditions in the operation process, and determining alignment points of the characteristics based on the real-time operation characteristics in the data sets to trace back to obtain a plurality of corresponding single-period energy efficiency fluctuation deviations; s5, determining an energy efficiency loss accumulation factor based on time sequence arrangement of each single-period energy efficiency fluctuation deviation and a corresponding thrust vector so as to determine a multi-sail collaborative energy efficiency transmission characteristic; S6, correcting the thrust coupling vector based on the energy efficiency loss accumulation factor in the navigation assisting process of the ship so as to adjust the air sail operation parameters corresponding to the target working condition of the next control period.
2. 2. The method for dynamically optimizing navigation aid energy efficiency of a ship according to claim 1, wherein the performing a coordinate system co-operation process by using the ship dynamic coordinate system and an air sail pneumatic coordinate system to obtain thrust coupling vectors pointing to each other, and dividing the thrust coupling vectors into initial states to be optimized comprises: Acquiring the coordinate of the gravity center position in an air sail pneumatic coordinate system as a second gravity center coordinate; Acquiring coordinates of the origin of the sail in a ship dynamic coordinate system as second origin coordinates of the sail; respectively utilizing the ship dynamic coordinate system to acquire a vector of the gravity center position pointing to a second sail origin, utilizing the air sail pneumatic coordinate system to acquire a vector of the sail origin pointing to the second gravity center coordinate as a mutually pointing thrust coupling vector, and establishing an initial standard vector; And establishing an initial state to be optimized by using the ship dynamic coordinate system, the air sail pneumatic coordinate system and the initial standard vector.
3. 3. The method for dynamically optimizing the navigational aid energy efficiency of the ship air sail according to claim 2, wherein the step of acquiring real-time operation data of the ship in the operation process based on the assistance of the multi-source sensor to acquire the real-time operation characteristics of the ship comprises the following steps: real-time state data in the navigation process is acquired in an auxiliary mode based on the multi-source sensor; Respectively carrying out time domain and frequency domain analysis and extraction processing according to the ship body motion area and the multi-sail array area of the ship by utilizing the real-time state data to obtain the motion extremum feature, the frequency spectrum distribution feature, the phase deviation feature and the working condition envelope feature of the ship as the real-time operation feature of the ship; The real-time state data comprise ship attitude data, ocean current and ocean wave data and host machine working condition data.
4. 4. The method for dynamically optimizing the navigation aid energy efficiency of the ship air sail according to claim 3, wherein the real-time running characteristics of the ship are obtained by respectively carrying out time domain and frequency domain analysis and extraction processing according to the ship body movement area and the multi-sail array area of the ship by utilizing the real-time state data, and the method comprises the following steps: preprocessing the real-time state data to obtain standardized real-time operation data; Respectively acquiring a rolling extreme point, a pitching peak and a main engine rotating speed fluctuation point as motion extreme characteristics of the ship by using the standardized real-time operation data; respectively acquiring wind direction spectral lines, wave energy spectrum edges, sail body stress distribution lines and multi-sail interference coupling central lines as the spectrum distribution characteristics of the ship by utilizing the standardized real-time operation data; Respectively acquiring a sail top rotating track arc, a wind receiving surface pressure arc, a rudder angle deflection arc and a ship fore direction deflection arc as phase deviation characteristics of the ship by using the standardized real-time operation data; Respectively acquiring a deck wind field area, an inter-sail pneumatic interference area, a main engine oil consumption characteristic area and a thrust gain coverage area as working condition envelope characteristics of the ship by using the standardized real-time operation data; Wherein the preprocessing includes removing signal noise and correcting sensor null shift.
5. 5. The method for dynamically optimizing navigational aid energy efficiency of a ship air sail according to claim 4, wherein the determining feature alignment points based on real-time operating features in each dataset to trace back to obtain corresponding single-period energy efficiency fluctuation deviations comprises: acquiring a single-working-condition operation vector under the ship dynamic coordinate system and a single-working-condition operation vector under the air sail pneumatic coordinate system according to the ship dynamic coordinate system and the air sail pneumatic coordinate system respectively by utilizing the data set; The real-time operation features are utilized to obtain the same feature alignment points in all the data sets as backtracking reference points; splitting the single-working-condition operation vector under the ship dynamic coordinate system into a plurality of sub-state vectors under the ship dynamic coordinate system according to the backtracking reference point; splitting a single-working-condition operation vector under the air sail pneumatic coordinate system into a plurality of sub-state vectors under the air sail pneumatic coordinate system according to the backtracking reference point; And respectively establishing corresponding backtracking state vectors to acquire a plurality of single-period energy efficiency fluctuation deviations after carrying out state matching processing by using the plurality of sub-state vectors under the ship dynamic coordinate system and the plurality of sub-state vectors under the air sail pneumatic coordinate system.
6. 6. The method for dynamically optimizing navigation aid energy efficiency of a ship according to claim 5, wherein after performing state matching processing by using a plurality of sub-state vectors under a ship dynamic coordinate system and a plurality of sub-state vectors under an air sail pneumatic coordinate system, respectively establishing corresponding backtracking state vectors to obtain a plurality of single-period energy efficiency fluctuation deviations comprises: establishing a vector segment starting node and a vector segment ending node according to a ship dynamic coordinate system and an air sail pneumatic coordinate system by using the backtracking reference point; carrying out state matching processing on a plurality of sub-state vectors under a ship dynamic coordinate system and a plurality of sub-state vectors under an air sail pneumatic coordinate system according to the vector segment start node and the vector segment end node to respectively obtain a backtracking state vector of the ship coordinate system and a backtracking state vector of the pneumatic coordinate system; and carrying out segment comparison processing by utilizing the backtracking state vector of the pneumatic coordinate system according to the backtracking state vector of the ship coordinate system to obtain a plurality of single-period energy efficiency fluctuation deviations.
7. 7. The method of dynamically optimizing the navigational aid energy efficiency of a ship's air sail as recited in claim 6, wherein determining an energy efficiency loss accumulation factor based on a time series arrangement of each of the single period energy efficiency fluctuation deviations and a corresponding thrust vector to determine a multi-sail collaborative energy efficiency transfer characteristic comprises: Arranging the single-period energy efficiency fluctuation deviations according to the navigation time sequence to establish an energy efficiency deviation time sequence set; Establishing a navigation aid energy efficiency loss model according to the corresponding thrust vector by utilizing the energy efficiency deviation time sequence set, and obtaining an energy efficiency loss accumulation factor; and determining the multi-sail cooperative energy efficiency transfer characteristics by using the energy efficiency loss accumulation factors.
8. 8. The method of dynamically optimizing navigational aid energy efficiency of a ship air sail of claim 7, wherein establishing a navigational aid energy efficiency loss model according to a corresponding thrust vector using the energy efficiency deviation time sequence set, the obtaining an energy efficiency loss accumulation factor comprises: acquiring coordinate axis components of the thrust vector as direction values of the thrust vector according to a ship coordinate system by utilizing the thrust vector corresponding to the energy efficiency deviation time sequence set; Obtaining a corresponding modular length of the thrust vector corresponding to the energy efficiency deviation time sequence set as a length value of the thrust vector; And using the direction value and the length value of the thrust vector as inputs, using the energy efficiency deviation time sequence set as output, and performing fitting processing by a least square method based on a unitary linear regression model E=lambda delta epsilon (d) +epsilon to obtain an energy efficiency loss accumulation factor.
9. 9. A method of dynamically optimizing the navigational aid energy efficiency of a ship's air sail as recited in claim 8, wherein determining a multi-sail cooperative energy efficiency transfer characteristic using said energy efficiency loss accumulation factor comprises: Establishing an energy efficiency error change trend by utilizing the energy efficiency loss accumulation factor; And respectively acquiring the loss transmission direction, the interference source type and the thrust transmission path as multi-sail collaborative energy efficiency transmission characteristics according to the corresponding thrust vector by utilizing the energy efficiency error variation trend.
10. 10. A method of dynamically optimizing the navigational aid energy efficiency of a ship air sail according to claim 9, wherein modifying the thrust coupling vector based on the energy efficiency loss accumulation factor comprises: Using the real-time operation characteristic as a correction reference, and performing initial correction processing on the thrust coupling vector according to the energy efficiency loss accumulation factor to obtain a corrected thrust coupling vector; and when the corrected thrust coupling vector corresponds to the actual energy efficiency state of the current ship, reserving the corrected thrust coupling vector to finish correction processing.

Description

Ship air sail navigational aid energy efficiency dynamic optimization method Technical Field The invention relates to the technical field of ship engineering, in particular to a ship air sail navigational aid energy efficiency dynamic optimization method. Background In the field of navigation with increasingly severe international maritime carbon emission reduction regulations, the ship air sail navigation assisting technology is gradually applied in commercialization as a zero carbon auxiliary propulsion means, but the optimization regulation and control of related navigation assisting energy efficiency is still generally focused on single meteorological parameters such as wind speed and wind direction, the core associated parameters such as ship navigation attitude, host working condition, ocean current wave and the like are not effectively combined with the running state of the air sail, a standardized dynamics multisource data coupling analysis mechanism is lacking, the limitation of the initial data supporting dimension of integral optimization exists, meanwhile, an effective real-time closed loop feedback means is lacking in the air sail regulation and control process, the dynamic coupling influence of the ship body motion on the air sail pneumatic performance cannot be accurately quantized, the real-time adaptive capacity of the existing static threshold or off-line preset mode on the complex maritime environment is lacking, and a professional multisil pneumatic interference cooperative regulation and control system is lacking, the thrust loss during the combined operation of the multisil cannot be distinguished and accurately avoided on line, in addition, the optimization precision and stability of the existing mode cannot be fed back and processed in time, and the fluctuation deviation of the energy efficiency cannot be satisfied, and the real demand of the ship navigation assisting energy efficiency can not be satisfied, and the intelligent navigation management efficiency can be effectively optimized, and the requirements of the ship navigation system can be met, and the real demand of the ship can be met. Disclosure of Invention Aiming at the defects of the prior art, the invention provides a ship air sail navigation aid energy efficiency dynamic optimization method, which comprises the steps of establishing a ship dynamic coordinate system and an air sail pneumatic coordinate system, obtaining a thrust coupling vector by means of co-operation, acquiring real-time characteristics of ship navigation gestures and host working conditions by means of a sensor network, splitting a data set according to navigation working condition switching points and calculating single-period energy efficiency fluctuation deviation, determining an energy loss accumulation factor according to deviation time sequences and the vector, and correcting the thrust coupling vector in real time to adjust air sail operation parameters, thereby realizing navigation aid energy efficiency dynamic optimization control. In order to achieve the above purpose, the invention provides a method for dynamically optimizing navigation aid energy efficiency of an air sail of a ship, which comprises the following steps: S1, establishing a ship dynamic coordinate system by using the gravity center position of a ship, and establishing an air sail pneumatic coordinate system by using the initial installation axis of an air sail as a sail origin, wherein the ship comprises a host system and a multi-sail combined structure; s2, carrying out coordinate system co-operation processing by utilizing the ship dynamic coordinate system and the air sail pneumatic coordinate system to obtain mutually-directed thrust coupling vectors, and dividing the thrust coupling vectors into an initial state to be optimized; S3, performing navigational aid thrust output on the ship by utilizing the air sail according to the initial state to be optimized, and respectively acquiring real-time operation data of the ship in the operation process based on the assistance of the multi-source sensor so as to acquire real-time operation characteristics of the ship, wherein the real-time operation characteristics are navigation attitude characteristics of the ship and pneumatic characteristics of the air sail; S4, dividing the real-time operation characteristics into a plurality of data sets respectively containing single sailing conditions based on gesture conversion points of the working conditions in the operation process, and determining alignment points of the characteristics based on the real-time operation characteristics in the data sets to trace back to obtain a plurality of corresponding single-period energy efficiency fluctuation deviations; s5, determining an energy efficiency loss accumulation factor based on time sequence arrangement of each single-period energy efficiency fluctuation deviation and a corresponding thrust vector so as to determine a multi-sail col