Method of controlling propulsion system of marine vehicle and propulsion system
A method of controlling a propulsion system of a marine vehicle by a controller, which forms data on a pitch angle (γ(θ)) of at least one foil based on an angularly variable wake field (W(θ)) affecting the at least one foil and an angle (θ) of a rotation of the foil wheel. An actuator arrangement that receives the data from the controller sets the at least one foil at the pitch angle (γ(θ)) based on the data.
1 . A method of controlling a propulsion system of a marine vehicle, comprising:
decomposing a scaled wake field into a sum of an undisturbed contribution and an extra contribution induced by at least one foil;
setting the induced scaled contribution caused by every foil constant;
determining an angularly variable wake field (W(θ)) at least approximately based on the induced scaled contribution that is locally constant:
forming, by a controller, data on a pitch angle (γ(θ)) of the at least one foil, which is individually controllable and in a rotatable manner attached with a foil wheel, based on the angularly variable wake field (W(θ)) affecting the at least one foil and an angle (θ) of a rotation of the foil wheel; and
setting, by an actuator arrangement receiving the data from the controller, the at least one foil at the pitch angle (γ(θ)) based on the data.
2 . The method of claim 1 , wherein said forming the data on the pitch angle (γ(θ)) of the at least one foil is performed under influence of the angularly variable wake field (W(θ)), which is caused by propulsion of the propulsion system.
3 . The method of claim 2 , wherein said forming the data on the pitch angle (γ(θ)) of the at least one foil comprises forming the data on the pitch angle (γ(θ)) of a foil of the at least one foil under influence of the angularly variable wake field (W(θ)), which is caused by at least one other foil, which is different from the foil for which the data on the pitch angle is formed, the at least one foil being attached to the foil wheel to which the foil for which the data on the pitch angle is formed is also attached.
4 . The method of claim 1 , wherein said forming the data on the pitch angle (γ(θ)) of the at least one foil is performed under influence of the angularly variable wake field (W(θ)), which is caused by a hull of the marine vehicle.
5 . The method of claim 1 , wherein said forming the data on the pitch angle (γ(θ)) of the at least one foil is performed under influence of the angularly variable wake field (W(θ)), which is caused by environment of the marine vehicle.
6 . The method of claim 1 , wherein said forming the data on the pitch angle (γ(θ)) of the at least one foil comprises forming the data on the pitch angle (γ(θ)) for each of a plurality of foils individually controllable and attached in a rotatable manner with the foil wheel.
7 . The method of claim 1 , wherein said forming the data on the pitch angle (γ(θ)) of the at least one foil is performed under influence of the angularly variable wake field (W(θ)) caused by a plurality of propulsion sub-systems of the propulsion system, the propulsion sub-systems including foils attached therewith including the at least one foil.
8 . The method of claim 1 , wherein the angularly variable wake field (W(θ)) is based on a simulation of the propulsion system in the water.
9 . The method of claim 1 , further comprising:
measuring the angularly variable wake field (W(θ)) with at least one sensor when the marine vehicle is in the water, and communicating data on the angularly variable wake field (W(θ)) to the controller.
10 . The method of claim 1 , wherein said forming the data on the pitch angle (γ(θ)) of the at least one foil is performed while keeping an absolute angle of attack (α) of the at least one foil constant within a tolerance for a maximized length of rotation of the foil wheel.
11 . The method of claim 1 , wherein said forming the data on the pitch angle (γ(θ)) of the at least one foil is performed while keeping an angle of attack (α) of the at least one foil at two alternative constants within a tolerance for a maximized length of rotation of the foil wheel, the constants having opposite signs.
12 . The method of claim 1 , wherein said forming the data on the pitch angle (γ(θ)) of the at least one foil is performed by optimizing an efficiency and/or a thrust of a model formed of a set of second-order continuous periodic functions of the pitch angle (γ(θ)), angle of attack (α) and the angularly variable wake field (W(θ)) with or without an operational demand and/or a constraint.
13 . A propulsion system of a marine vehicle, the propulsion system comprising:
a foil wheel, at least one foil, which is individually controllable and in a rotatable manner attached with the foil wheel, an actuator arrangement and a controller;
the controller comprising one or more processors and one or more memories including computer program code;
the one or more memories and the computer program code configured to, with the one or more processors, cause at least the controller to:
decompose a scaled wake field into a sum of an undisturbed contribution and an extra contribution induced by at least one foil,
set the induced scaled contribution caused by every foil constant,
determine an angularly variable wake field (W(θ)) at least approximately based on the induced scaled contribution that is locally constant,
form data on a pitch angle (γ(θ)) of the at least one foil based on an angle (θ) of a rotation of the foil wheel and the angularly variable wake field (W(θ)) affecting the at least one foil, and
communicate the data on the pitch angle (γ(θ)) to the actuator arrangement, which is configured to set the at least one foil at the pitch angle (γ(θ)) based on the data.
14 . A marine vehicle comprising a propulsion system having:
a foil wheel, at least one foil, which is individually controllable and in a rotatable manner attached with the foil wheel, an actuator arrangement and a controller;
the controller including one or more processors and one or more memories including computer program code;
the one or more memories and the computer program code configured to, with the one or more processors, cause at least the controller to:
decompose a scaled wake field into a sum of an undisturbed contribution and an extra contribution induced by at least one foil,
set the induced scaled contribution caused by every foil constant;
determine an angularly variable wake field (W(θ)) at least approximately based on the induced scaled contribution that is locally constant,
form data on a pitch angle (γ(θ)) of the at least one foil based on an angle (θ) of a rotation of the foil wheel and the angularly variable wake field (W(θ)) affecting the at least one foil, and
communicate the data on the pitch angle (γ(θ)) to the actuator arrangement, which is configured to set the at least one foil at the pitch angle (γ(θ)) based on the data.
15 . The method of claim 1 , wherein the at least one foil is a blade, and wherein the angularly variable wake field (W(θ)) is based on a simulation of the propulsion system in the water with a computational probe adjacent to the at least one foil or measuring the angularly variable wake field (W(θ)) with at least one sensor adjacent to the at least one foil when the marine vehicle is in the water, and communicating data on the angularly variable wake field (W(θ)) to the controller.
16 . A method of controlling a propulsion system of a marine vehicle having a foil wheel and at least one foil, comprising:
decomposing a scaled wake field, which affects the at least one foil and an angle (θ) of a rotation of the foil wheel, into a model based on a sum of an undisturbed contribution and an extra contribution induced by at least one foil;
truncating functions of the induced scaled contributions caused by every foil;
determining an angularly variable wake field (W(θ)) at least approximately based on the contributions of the truncated functions;
forming, by a controller, data on a pitch angle (γ(θ)) of the at least one foil, which is a blade and is individually controllable and in a rotatable manner attached with the foil wheel, based on the angularly variable wake field (W(θ)); and
setting, by an actuator arrangement receiving the data from the controller, the at least one foil at the pitch angle (γ(θ)) based on the data.
17 . A propulsion system of a marine vehicle, the propulsion system comprising:
a foil wheel, at least one foil, which is individually controllable and in a rotatable manner attached with the foil wheel, an actuator arrangement and a controller;
the controller comprising one or more processors and one or more memories including computer program code;
the one or more memories and the computer program code configured to, with the one or more processors, cause at least the controller to:
decompose a scaled wake field, which affects the at least one foil and an angle (θ) of a rotation of the foil wheel, into a model based on a sum of an undisturbed contribution and an extra contribution induced by at least one foil,
truncate functions of the induced scaled contributions caused by every foil,
determine an angularly variable wake field (W(θ)) at least approximately based on the contributions of the truncated functions,
form, by a controller, data on a pitch angle (γ(θ)) of the at least one foil, which is a blade and is individually controllable and in a rotatable manner attached with the foil wheel, based on the angularly variable wake field (W(θ)), and
communicate the data on the pitch angle (γ(θ)) to the actuator arrangement, which is configured to set the at least one foil at the pitch angle (γ(θ)) based on the data.