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CN-121995828-A - Ship folding fan type sail independent control method based on wind conditions

CN121995828ACN 121995828 ACN121995828 ACN 121995828ACN-121995828-A

Abstract

The invention relates to the technical field of ship propulsion and discloses a wind condition-based independent control method for a ship folding fan type sail, which comprises the specific steps of data acquisition, data analysis and fault early warning, wind direction compliance judgment, safety evaluation, target angle execution and angle error judgment and compensation; the invention realizes the high-precision and high-safety autonomous control of the ship folding fan type sail by a multi-sensor fusion and intelligent algorithm, can early warn mechanical faults such as bearings in real time, dynamically optimize the unfolding angle of the sail to maximize thrust efficiency, and simultaneously strictly verify wind direction validity and structural stress safety to avoid running under upwind or overload working conditions, combines an incremental encoder feedback and grading error compensation mechanism, has the angle control precision within +/-1 DEG, remarkably improves the wind energy utilization efficiency, reduces fuel consumption and carbon emission, and effectively ensures the safety of the sail and the hull structure.

Inventors

  • CAO XUELIANG
  • CAO XUELEI
  • LIU JIALEI
  • LI ZHI
  • LIU BINGYAN
  • GAO RUIXIA

Assignees

  • 海德威科技集团(青岛)有限公司

Dates

Publication Date
20260508
Application Date
20260130

Claims (8)

  1. 1. The independent control method of the ship folding fan type sail based on the wind condition is characterized by comprising the following steps of: The method comprises the steps of firstly, data acquisition, namely synchronously acquiring environmental and mechanical parameters through a multi-sensor array arranged on a mast and a ship body; Training and reasoning the acquired time sequence data by adopting an LSTM neural network to realize fault early warning and optimal expansion angle calculation; judging whether the current wind direction is suitable for unfolding the sail or not; Step four, safety evaluation, namely calculating the stressed load of the sail, and judging whether the sail is safe after being unfolded; fifthly, executing a target angle, namely expanding the sail to the target angle; And step six, angle error judgment and compensation, namely feeding back the current angle of the sail in real time, judging the angle error and carrying out angle compensation regulation and control.
  2. 2. The method for independently controlling a folding fan type sail of a ship according to claim 1, wherein the environmental parameters include wind speed Wind direction Sea wave height Heading and heading direction ; The mechanical parameters comprise the current deployment angle of the sail Torque of driving motor Bearing vibration frequency 。
  3. 3. The method for independently controlling a folding fan type sail of a ship according to claim 1, wherein the fault pre-warning is performed by comparing vibration frequencies And a normal threshold When (when) > Time% The vibration standard deviation under the normal working condition), triggering fan equipment fault early warning, and pushing to a ship central control system; The optimal spreading angle is combined with the navigational speed of the ship And wind speed Solving the optimal expansion angle through Bayesian optimization algorithm To make the thrust coefficient of the sail The maximization, the calculation formula is as follows, ; Wherein, the Is the stall critical angle of attack.
  4. 4. The method for independently controlling a folding fan type sail of a ship based on wind conditions according to claim 1, wherein the wind direction compliance determination criteria are as follows: If it is If the angle is less than or equal to 90 degrees, judging that the wind-receiving zone is effective, entering a subsequent safety evaluation flow, if And (5) judging that the folding device is in an upwind or crosswind state and entering an emergency folding process.
  5. 5. The independent control method for the folding fan type sail of the ship based on wind conditions according to claim 3, wherein the calculation formula of the stressed load of the sail is as follows: ; Wherein, the For air density (1.225 kg/m 3 ), For the deployment area of the sail(s), For the lift coefficient (polynomial function fitted by wind tunnel test), When (when) ≤ If the target angle is safe, the subsequent target angle execution flow is carried out, When (when) > And if the folding alarm is not safe, triggering the emergency folding and giving an alarm.
  6. 6. The independent control method for a folding fan type sail of a ship according to claim 1, wherein the sail deployment step comprises the steps of transmitting a target angle execution signal after safety judgment to a servo motor, and starting the servo motor to operate according to the signal instruction so as to adjust the sail to the target angle 。
  7. 7. The independent control method for a folding fan type sail of a ship based on wind conditions according to claim 6, wherein the angle error judgment specifically comprises: Real-time feedback of current angle through incremental encoder , In accordance with the principle of the present invention, Calculating the angle error if 1 DEG, entering a compensation flow; when 1< When the angle is less than 5 DEG, adopting clearance compensation fine adjustment, namely compensating mechanical clearance through the pulse number of a motor, and adjusting the pulse number every time , ( Taking 10 pulse/°) as a pulse-angle conversion coefficient; Triggering and driving an actuator (folding) to execute the unfolding process again when the angle is more than or equal to 5 degrees; If it is When the angle is less than or equal to 1 degree, the current angle is kept, and steady state monitoring is carried out.
  8. 8. The independent control method for the folding fan type sail of the ship based on wind conditions according to claim 1, further comprising the following specific steps of: Accessing ship-borne weather radar and satellite short-term forecast data; Constructing an LSTM-transducer mixed model, and predicting the arrival time of the wind gust, the wind direction mutation probability, the surge period and the surge direction within 30 minutes in the future; the pre-adjustment strategy is triggered in advance, so that the emergency action is prevented from impacting the structure.

Description

Ship folding fan type sail independent control method based on wind conditions Technical Field The invention relates to the technical field of ship propulsion, in particular to a wind condition-based independent control method for a ship folding fan type sail. Background With the increasing strictness of the international maritime organization on the carbon emission supervision of ships and the promotion of the 'double carbon' target of the global shipping industry, wind energy is receiving attention as a clean and renewable auxiliary propulsion energy source, wherein the folding fan type sail has been applied to multi-ocean-going commercial ships and scientific investigation ships due to the advantages of compact structure, flexible retraction, strong adaptability and the like, and becomes an important technical path for saving energy and reducing consumption of the ships, however, the existing folding fan type sail control system has the problems of low intelligent degree, lag response, insufficient safety and the like. At present, most systems still adopt fixed angle adjustment or open loop control strategies based on a simple table look-up method, the influence of real-time wind conditions, sea wave disturbance and ship navigation state change on the aerodynamic performance of a sail is not fully considered, so that the wind energy capturing efficiency is low, meanwhile, on-line monitoring on mechanical states is lacking, early fault early warning is difficult to realize, the problem that structural damage and even safety accidents are easily caused by overload or stall under strong side wind or gust working conditions is solved, in addition, a closed loop feedback mechanism is not introduced in the traditional control method, the influence of nonlinear factors such as transmission gaps, friction dead zones and the like is avoided, the deviation between the actual unfolding angle and a target value is large, and the sail propulsion efficiency is weakened, so that the independent control method for the ship folding fan type sail based on wind conditions is provided. Disclosure of Invention The invention provides a wind condition-based independent control method for a ship folding fan type sail, which realizes the high-precision and high-safety autonomous control of the ship folding fan type sail through multi-sensor fusion and an intelligent algorithm, can early warn mechanical faults such as bearings in real time, dynamically optimizes the sail spreading angle to maximize thrust efficiency, and simultaneously strictly checks wind direction validity and structural stress safety, avoids running under upwind or overload working conditions, and solves the problems of low control efficiency, poor safety and insufficient sail spreading and adjusting precision of the traditional sail mentioned in the background art. The invention provides the following technical scheme: a wind condition-based independent control method for a ship folding fan type sail comprises the following steps: The method comprises the steps of firstly, data acquisition, namely synchronously acquiring environmental and mechanical parameters through a multi-sensor array arranged on a mast and a ship body; Training and reasoning the acquired time sequence data by adopting an LSTM neural network to realize fault early warning and optimal expansion angle calculation; judging whether the current wind direction is suitable for unfolding the sail or not; Step four, safety evaluation, namely calculating the stressed load of the sail, and judging whether the sail is safe after being unfolded; fifthly, executing a target angle, namely expanding the sail to the target angle; And step six, angle error judgment and compensation, namely feeding back the current angle of the sail in real time, judging the angle error and carrying out angle compensation regulation and control. As a preferable technical scheme of the invention, the environmental parameters comprise wind speedWind directionSea wave heightHeading and heading directionThe mechanical parameters comprise the current unfolding angle of the sailTorque of driving motorBearing vibration frequency。 As a preferable technical scheme of the invention, the fault early warning is realized by comparing vibration frequenciesAnd a normal thresholdWhen (when)>Time%The vibration standard deviation under the normal working condition), triggering fan equipment fault early warning, and pushing to a ship central control system; the optimal spreading angle is combined with the navigational speed of the shipAnd wind speedSolving the optimal expansion angle through Bayesian optimization algorithmTo make the thrust coefficient of the sailThe maximization, the calculation formula is as follows, Wherein, the Is the stall critical angle of attack. As a preferable technical scheme of the invention, the wind direction compliance determination criteria are as follows: If it is If the angle is less than or equal to 90 degre