Method for operating a defence net barrier

Abstract

The application discloses a control method of a defense net barrier, which comprises the following steps: (a) after a step motor near a power supply is started for a period of time, an adjacent step motor is started to segmentally lift the bottom of the defense net barrier; (b) after the height position of the bottom of the defense net barrier is uniformly lifted, a defense net component fixedly connected to a pulling cable is pulled to one side through the pulling cable, the pulled defense net component sequentially pulls the remaining defense net components to fold the defense net barrier and open a control passage; (c) one defense net component fixedly connected to the pulling cable is pulled to the other side through the pulling cable, the pulled defense net component sequentially pulls the remaining defense net components to unfold the defense net barrier; and (d) the step motor is started to make the bottom of the defense net barrier fall to close the control passage.

Description

Methods for controlling defensive barriers Technical Field

[0001] This invention relates to the field of marine engineering technology, and particularly to a method for controlling a defensive net barrier, wherein the defensive net barrier is used to open or close a control channel to allow authorized objects to pass and prevent unauthorized objects from passing. For example, the control channel is a port access channel; when the defensive net barrier opens the control channel, authorized vessels can enter and exit the port through the control channel; when the defensive net barrier closes the control channel, unauthorized vessels cannot enter or exit the port through the control channel. Background Technology

[0002] A defensive barrier is a system for controlling access to designated waterways. It allows the access to these waterways to be opened and closed by allowing the barrier to retract and expand horizontally. For example, in Chinese invention patent application CN111877252A, the inventors disclosed a port intelligent defensive barrier system. In this system, the floating gate opening process involves a vessel traveling to a designated area outside the port and sending a passage request to the VTS control center. After the staff verifies the vessel information, the VTS control center issues a release command. Upon receiving the command, the signal receiver sends out the corresponding signal via a signal generator. First, the control system releases the tension sensor control at the bottom of the defensive barrier, putting the barrier in an authorized lifting state. After the lifting winch raises the barrier to a designated height, the control cabinet drives the traction winch to operate, and the barrier retracts under the rotation of the traction winch. The traction cable is tightened, and the floating gate retracts along with the defense net. Once the floating gate opens to the predetermined position, the vessel passes through the port. The closing process of the floating gate is as follows: after the vessel passes through the port, the VTS control center issues a closing command. Upon receiving the command, the signal receiver sends out the corresponding signal via a signal generator. First, the control cabinet drives the traction winch. Under the rotation of the traction winch, the traction cable is driven, and the floating gate extends along with the defense net until the movable end of the floating gate is engaged in the concrete base. After the floating gate closes, the hoisting winch lowers the defense net until the counterweight anchor chain anchors it to the seabed. The tension sensor is then activated, initiating the monitoring program for the defense net. The existing port intelligent defense barrier system uses lifting winches to lift all parts of the bottom of the defense net simultaneously. This method is suitable for application scenarios where the protection area is relatively short in terms of cost and technical implementation. However, for situations where the protection area is large and the barrier length is hundreds of meters or more, it is necessary to solve the problems of severe power supply attenuation, communication delay and synchronization, power distribution and control. Among these, remote precise synchronization control, hardware changes (especially the power supply system), and increased maintenance costs are often unbearable. Summary of the Invention

[0003] One object of the present invention is to provide a method for controlling a defensive net barrier, wherein the method is particularly suitable for controlling a defensive net barrier of a relatively long length.

[0004] One object of the present invention is to provide a method for controlling a defensive barrier, wherein the method employs a segmented lifting of the bottom of the defensive barrier, which can solve the problems of power supply attenuation, communication delay and synchronization, power distribution and control of the stepper motors used to lift the bottom of the defensive barrier.

[0005] One objective of this invention is to provide a method for controlling a defensive network barrier. This method solves the problems of power supply attenuation, communication delay and synchronization, power distribution and control of the stepper motors without changing the hardware of the defensive network barrier or making complex designs to the barrier. This greatly reduces the design and construction costs of the defensive network barrier and improves its safety and reliability.

[0006] One object of the present invention is to provide a method for controlling a defensive barrier, wherein the method employs a heuristic scheduling algorithm to determine how to control the operating state of the stepper motors, so that the operating state of the stepper motors can raise the bottom of the defensive barrier in stages, thereby reducing the technical difficulty and cost of operating the defensive barrier.

[0007] One objective of this invention is to provide a method for controlling a defensive network barrier, wherein the method employs a heuristic scheduling algorithm for quantification, calculation, and evaluation, addressing the challenges of polygonal problems, namely the interrelationships and influences between cost, efficiency, security and reliability, and feasibility.

[0008] One object of the present invention is to provide a method for controlling a defensive network barrier, wherein the method employs a heuristic scheduling algorithm to determine how to control the operating state of the stepper motors, thereby quickly seeking feasible and near-optimal solutions in a low-cost manner, avoiding the time and cost of costly engineering trial and error.

[0009] One object of the present invention is to provide a method for controlling a defensive barrier, wherein the method of sequentially activating the stepper motors reduces the power requirements of the power supply and alleviates the stress on the power supply.

[0010] One object of the present invention is to provide a method for controlling a defensive barrier, wherein the method groups the stepper motors so that the starting of the stepper motors simultaneously involves both serial starting and parallel starting behaviors, thereby ensuring the safe and reliable raising of the bottom of the defensive barrier while maximizing energy efficiency and improving lifting efficiency.

[0011] According to one aspect of the present invention, a method for controlling a defensive net barrier is provided, wherein the defensive net barrier includes a pull cable, a plurality of connecting cables, and a plurality of defensive net components. Each defensive net component includes a net body, a float frame, a float, and a lifting device. The float frame is disposed on the top of the net body, and the float is disposed on the float frame. The lifting device includes a stepper motor, a drum mounted on the output shaft of the stepper motor, and a lifting cable with one end operably wound around the drum. The other end of the lifting cable is connected to the bottom of the net body. The net bodies of two adjacent defensive net components are connected, and the float frames or floats of two adjacent defensive net components are connected by the connecting cables. The float frame of the outermost defensive net component is fixedly connected to the pull cable, and the float frames of the other defensive net components are movably connected to the pull cable. The control method includes the following steps:

[0012] (a) After one of the stepper motors near the power supply has been started for a period of time, an adjacent stepper motor is started to lift the bottom of the defense mesh barrier in sections;

[0013] (b) After the height of the bottom of the defense net barrier is uniformly raised, one of the defense net components fixedly connected to the pull cable is pulled to one side by the pull cable. The pulled defense net component pulls the remaining defense net components in sequence to close the defense net barrier and open the control channel.

[0014] (c) Pulling one of the defense net components fixedly connected to the pull cable to the other side by means of the pull cable, the pulled defense net component pulls the remaining defense net components in turn to deploy the defense net barrier;

[0015] (d) Activate the stepper motor to lower the bottom of the defense net barrier to close the control channel.

[0016] According to one embodiment of the present invention, in step (d), after the stepper motor near the power supply starts moving, an adjacent stepper motor is started to descend in segments to the bottom of the defense barrier.

[0017] According to one embodiment of the present invention, prior to step (a), the control method further includes the step of grouping the stepper motors to control the stepper motors in groups.

[0018] According to one embodiment of the present invention, the step of grouping these stepper motors includes:

[0019] Quantitative analysis and calculation, and evaluation and adjustment prioritizing the power supply;

[0020] The optimal case is calculated and tested in a forward direction to group the stepper motors that are close to the power supply into the optimal group;

[0021] The worst-case test and adjustment are performed in reverse to group the stepper motors that are far from the power supply into the worst-case group;

[0022] The overall improvement time of the intermediate segment is estimated and the strategy is adjusted to divide all the stepper motors between the optimal group and the worst group into an intermediate group;

[0023] Overall testing and evaluation, and plan adjustments.

[0024] According to one embodiment of the present invention, in step (a), the number of stepper motors operating simultaneously is greater than or equal to the ratio of the overall height at which the bottom of the defense net barrier is raised to the vertical height difference between the bottoms of two adjacent net bodies.

[0025] According to one embodiment of the present invention, let the number of stepper motors operating simultaneously be k, and let the total power supply of the power supply be P. z Let the control power supply parameter of the stepper motor be P. c Then the parameters k and P z and P c Satisfying relation (1): k = ⌊P z / P c ⌋, the symbol ⌊⌋ is the down-to-integer operator;

[0026] Let the linear velocity parameter of the stepper motor be V, the rated power parameter of the stepper motor be P, the efficiency factor parameter after power loss due to long-distance transmission be η, and the parameter of the resistance of the counterweight plus water or the buoyancy of the water when the bottom of the net is lifted or lowered be F. Then the parameters P, η and F satisfy the relationship (2): P*η=F*V.

[0027] Let the torque parameter of the stepper motor be Ñ, the speed parameter be n, and the parameter k′ be a constant. Then the parameters Ñ, n, and k′ satisfy the relationship (3): Ñ = k′*F*V / n, and the conversion of the linear velocity V of the stepper motor to the speed n is achieved by the relationship V = ω*r = kʺn*r.

[0028] Let T be the total time required to close the defensive net barrier and open the control channel; let H be the height the bottom of the defensive net barrier needs to be raised; let ∆t be the time interval between the activation of two adjacent stepper motors; let h be the safe height difference between the bottoms of two adjacent net sections; and let V be the uniform lifting speed of the stepper motors. r Let the uniform falling speed parameter of the stepper motor be V. f The stepper motor described herein uses V r The time required for Max to raise the height by h satisfies the relationship (4): t=h / V r Max ≥ ∆t, where the parameters ∆t, k, H, and V r Satisfying relation (5): ∆t*k≥H / V r Max, where H / h is a constant, therefore, combining relation (4) and relation (5), we get relation (6): k=⌊P z / P c ⌋≥H / h.

[0029] According to one embodiment of the present invention, the parameters of the stepper motor for determining the optimal group are (V) r b,∆tb,kb), wherein the steps for determining the parameters of the stepper motor in the optimal group include: first, determining kb according to relation (1) and relation (6);

[0030] Secondly, take parameter η=1 and use relation (7) V r = [P z [η / k1] / F is used to estimate the feasible maximum value, denoted as V. r b;

[0031] Next, based on satisfying relations (4) and (5), determine ∆tb.

[0032] According to one embodiment of the present invention, the parameters of the stepper motor in the worst-case group are determined as (V) r w,∆tw,kw), wherein the steps for determining the parameters of the stepper motor in the worst-case group include:

[0033] First, let the measured input voltage of the remote stepper motor be Uci, and the output port voltage of the power supply be Uco. The parameters η, Uci, and Uco satisfy the following relationship: η = (Uci / Uco). 2 The worst group's k is set to a value less than kb, and is denoted as kw;

[0034] Secondly, the feasible solution V is obtained according to relation (7). r , denoted as V r w;

[0035] Next, based on satisfying relations (4) and (5), determine ∆tw.

[0036] According to one embodiment of the present invention, the parameters of the stepper motor in the intermediate group are determined as (V) r w,∆tw,kw).

[0037] According to one embodiment of the invention, the stepper motors in the intermediate group are grouped together to control these stepper motors in the intermediate group in a grouped manner.

[0038] Compared with the prior art, the method for controlling the defensive barrier of the present invention has at least the following beneficial effects:

[0039] First, the control method adopts a segmented lifting of the bottom of the defense net barrier, which can solve the problems of power supply attenuation, communication delay and synchronization, power distribution and control of the stepper motors used to lift the bottom of the defense net barrier;

[0040] Secondly, the control method can solve the problems of power supply attenuation, communication delay and synchronization, power distribution and control of the stepper motors without changing the hardware of the defense barrier or making complex designs to the defense barrier. This greatly reduces the design cost and construction cost of the defense barrier and improves the safety and reliability of the defense barrier.

[0041] Third, the control method uses a heuristic scheduling algorithm to determine how to control the working state of these stepper motors, so that the working state of these stepper motors can raise the bottom of the defense barrier in segments, thereby reducing the technical difficulty and cost of operating the defense barrier.

[0042] Fourth, the aforementioned control method employs a heuristic scheduling algorithm for quantification, calculation, and evaluation, addressing the challenges of polygonal operations, namely the interrelationships and impacts between cost, efficiency, safety and reliability, and feasibility.

[0043] Fifth, the control method uses a heuristic scheduling algorithm to determine how to control the working state of these stepper motors, so as to quickly find feasible and near-optimal solutions for the project in a low-cost manner, avoiding the time and cost of costly engineering trial and error.

[0044] Sixth, the sequential starting method of the stepper motors can reduce the power requirements of the power supply and alleviate the pressure on the power supply.

[0045] Seventh, the control method groups these stepper motors so that the starting of these stepper motors simultaneously involves both serial starting and parallel starting behaviors. This ensures the safe and reliable improvement of the bottom of the defense barrier while fully utilizing energy efficiency and increasing efficiency. Attached Figure Description

[0046] Figure 1 is a schematic diagram of a defensive mesh barrier according to a preferred embodiment of the present invention.

[0047] Figure 2 is a perspective view of a defense mesh component of the defense mesh barrier according to the above-described preferred embodiment of the present invention.

[0048] Figure 3 is a timing diagram of a stepper motor of a lifting device for a plurality of defense mesh components of the defense mesh barrier according to the above-described preferred embodiment of the present invention, when lifting the bottom of the defense mesh barrier.

[0049] Figure 4 is a block diagram of a control method according to a preferred embodiment of the present invention, which is used to control the defense network barrier.

[0050] In the picture:

[0051] 10. Pull the cable;

[0052] 20. Connect the cables;

[0053] 30. Defense net assembly; 31. Net body; 32. Float frame; 321. Frame body; 3211. Assembly end; 322. Extension arm; 323. First clamping part; 324. Second clamping part; 325. Guide wheel assembly; 3251. Guide channel; 33. Float; 34. Lifting device; 341. Stepper motor; 342. Drum; 343. Lifting cable; 35. Float bar;

[0054] 40. Power supply. Detailed Implementation

[0055] Before detailing any embodiment of the invention, it should be understood that the invention, in its application, is not limited to the details of the construction and arrangement of the components set forth in the following description or illustrated in the following figures. The invention can have other embodiments and can be practiced or carried out in various ways. Furthermore, it should be understood that the wording and terminology used herein are for descriptive purposes and should not be considered limiting. The use of “comprising,” or “having,” and variations thereof is intended to cover the items set forth below and their equivalents, as well as any additional items. Unless otherwise specified or limited, the terms “installation,” “connection,” “support,” and “linkage,” and variations thereof are used broadly and cover both direct and indirect installation, connection, support, and linking. Moreover, “connection” and “linkage” are not limited to physical or mechanical connections or links.

[0056] Furthermore, firstly, in the disclosure of this invention, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the above terms should not be construed as limiting this invention. Secondly, the term "a" should be understood as "at least one" or "one or more," that is, in one embodiment, the number of an element can be one, while in another embodiment, the number of the element can be multiple. The term "a" should not be construed as a limitation on the quantity.

[0057] Figures 1 and 2 illustrate a preferred embodiment of the present invention, which includes a pull cable 10, a plurality of connecting cables 20, and a plurality of defense net components 30.

[0058] Specifically, each of the defense net components 30 includes a net body 31, a float frame 32, and at least one float 33. The float frame 32 is disposed on top of the net body 31, and the float 33 is disposed on the float frame 32. The net bodies 31 of two adjacent defense net components 30 are connected, and the floats 33 of two adjacent defense net components 30 are connected by the connecting cable 20. Optionally, the float frames 32 of two adjacent defense net components 30 are connected by the connecting cable 20. The float frame 32 of the outermost defense net component 30 is fixedly connected to the pulling cable 10, and the float frames 32 of the remaining defense net components 30 are movably connected to the pulling cable 10.

[0059] After the defensive net barrier is deployed, the traction cable 10 spans the opposite banks of a control channel, for example, the control channel may be a port access channel. The float frame 32 of the outermost defensive net assembly 30 is fixedly connected to the traction cable 10 at a position adjacent to the left bank of the control channel. The float frame 32 of the outermost defensive net assembly 30 may be fixedly connected to the right bank of the control channel via, but not limited to, the connecting cable 20. Based on the buoyancy provided by the float 33 of each defensive net assembly 30, the net body 31 of each defensive net assembly 30 is suspended in the waters of the control channel.

[0060] When the traction cable 10 is pulled toward the left bank of the control channel and is fixedly connected to the float frame 32 of the defense net assembly 30, the float frame 32 of this defense net assembly 30 is pulled sequentially by the connecting cables 20, causing the defense net barrier to unfold and close the control channel. Unauthorized vessels are then unable to enter or leave the port through the control channel. Conversely, when the traction cable 10 is pulled toward the right bank of the control channel and is fixedly connected to the float frame 32 of the defense net assembly 30, the float 33 of this defense net assembly 30 sequentially abuts against and pushes the float 33 of the remaining defense net assemblies 30, causing the defense net barrier to retract to the right bank of the control channel. Authorized vessels are then able to enter or leave the port through the control channel.

[0061] Referring to Figure 2, the float frame 32 includes a U-shaped frame 321, two extension arms 322, a first clamping part 323, and a second clamping part 324. The frame 321 has two mounting ends 3211, each mounting end 3211 being fitted with a float 33. One end of each of the two extension arms 322 extends outward to the two mounting ends 3211 of the frame 321, and the other ends of the two extension arms 322 extend to a face-to-face position. The first clamping part 323 is provided with… The first clamping part 323 and the second clamping part 324 are respectively clamped to the net body 31 at different height positions on the top of the net body 31, so as to set the float frame 32 on the top of the net body 31, and the float frame 32 is provided with a float 33 on each of the opposite sides of the top of the net body 31, so that the two floats 33 can provide balanced buoyancy on the opposite sides of the top of the net body 31.

[0062] The float frame 32 further includes a guide wheel assembly 325, which is disposed on one of the extension arms 322, and the guide wheel assembly 325 has a guide channel 3251. The traction cable 10 is movably disposed in the guide channel 3251 of the guide wheel assembly 325, so as to be movably disposed on the float frame 32 and the traction cable 10.

[0063] Each of the defense net components 30 further includes a lifting device 34, which includes a stepper motor 341, a drum 342, and a lifting cable 343. The stepper motor 341 is disposed on the float frame 32, for example, the stepper motor 341 may be disposed on one of the extension arms 322 of the float frame 32. The drum 342 is disposed on the output shaft of the stepper motor 341 so that the stepper motor 341 can drive the drum 342 to rotate. One end of the lifting cable 343 is operably wound around the drum 342, and the other end is connected to the bottom of the net body 31. When the stepper motor 341 drives the drum 342 to rotate in one direction to perform the cable winding operation of the lifting cable 343, the bottom of the net body 31 is lifted so that the bottom of the net body 31 is away from the seabed. Correspondingly, when the stepper motor 341 drives the drum 342 to rotate in another direction to perform the cable winding operation of the lifting cable 343, the bottom of the net body 31 is lowered so that the bottom of the net body 31 is close to the seabed.

[0064] It is worth mentioning that the connection method between the lifting cable 343 and the net body 31 is not limited in this invention. For example, the defense net assembly 30 further includes at least one float 35, and at least one float 35 is provided at the bottom of the net body 31. One end of the lifting cable 343 is connected to the float 35, so that the float 35 connects one end of the lifting cable 343 to the bottom of the net body 31.

[0065] Referring again to Figure 1, the defensive net barrier further includes a power supply 40, and the stepper motors 341 of the lifting devices 34 of the defensive net components 30 are respectively poweredly connected to the power supply 40 so that the power supply 40 supplies power to the stepper motors 341, so that the stepper motors 341 can lift the bottom of the defensive net barrier by driving the drum 342 to rotate.

[0066] Those skilled in the art will understand that when the power supply 40 supplies power to the stepper motors 341 of the lifting devices 34, the effective input power of the stepper motors 341 decreases due to long-distance power supply, and in severe cases, the stepper motors 341 cannot be driven under load. Furthermore, the longer the defensive mesh barrier, the greater its weight. In this case, it is even more crucial to ensure the effective input power of the power supply 40 to the stepper motors 341 of the lifting devices 34. Otherwise, the stepper motors 341 of the lifting devices 34 may be unable to lift the bottom of the defensive mesh barrier, or even if they manage to lift the bottom, it will place a significant burden on the power supply 40, leading to decreased reliability and stability, and affecting its lifespan.

[0067] In order to ensure that the stepper motors 341 of the lifting devices 34 can reliably lift the bottom of the defensive net barrier while reducing the burden on the power supply 40, the present invention provides a control method that can sequentially start the stepper motors 341 of the lifting devices 34 to lift the bottom of the defensive net barrier in stages. In other words, the control method does not require the power supply 40 to simultaneously supply power to the stepper motors 341 of these lifting devices 34. Instead, it first supplies power to the stepper motor 341 of the first lifting device 34. After the stepper motor 341 of the first lifting device 34 is started for a period of time and lifts the bottom of the defensive net barrier a certain distance, it then supplies power to the stepper motor 341 of the second lifting device 34. After the stepper motor 341 of the second lifting device 34 is started for a period of time and lifts the bottom of the defensive net barrier a certain distance, it then supplies power to the stepper motor 341 of the third lifting device 34, and so on. The control method sequentially starts the stepper motors 341 of these lifting devices 34, thereby lifting the bottom of the defensive net barrier in stages. After the bottom height of the defensive net barrier is uniformly raised, the net barrier assembly 30 is pulled to one side (e.g., the right bank) by the traction cable 10. The pulled net barrier assembly 30 then sequentially pulls the remaining net barrier assemblies 30, thereby closing the net barrier and opening the control channel, allowing authorized vessels to enter and exit the port through the control channel. It is understood that this control method, by first raising the bottom height of the net barrier and then horizontally closing it, avoids the bottom of the net barrier dragging on the ground during the horizontal closing process, thus preventing damage to the bottom of the net barrier and protecting it. It should be emphasized that the sequential activation of the stepper motors 341 of these lifting devices 34 in the control method disclosed in this invention means that the stepper motors 341 of these lifting devices 34 are activated sequentially at different time points.

[0068] Accordingly, the control method can first deploy the defense net barrier horizontally, and then lower the bottom of the defense net barrier so that the bottom of the defense net barrier is close to the seabed. In this way, the defense net barrier can close the control channel to prevent unauthorized vessels from passing.

[0069] In other words, referring to Figure 4, the present invention further provides a control method for controlling the defense network barrier, enabling the defense network barrier to open or close the control channel, wherein the control method includes the following steps:

[0070] (a) After one of the stepper motors 341 near the power supply 40 has been started for a period of time, an adjacent stepper motor 341 is started to lift the bottom of the defense net barrier in stages;

[0071] (b) After the height of the bottom of the defense net barrier is uniformly raised, one of the defense net components 30 fixedly connected to the pull cable 10 is pulled to one side by the pull cable 10. The pulled defense net component 30 pulls the remaining defense net components 30 in sequence to close the defense net barrier and open the control channel.

[0072] (c) By pulling one of the defense net components 30 fixedly connected to the pull cable 10 to the other side, the pulled defense net component 30 pulls the remaining defense net components 30 in turn to deploy the defense net barrier.

[0073] (d) Activate the stepper motor 341 to lower the bottom of the defense net barrier to close the control channel.

[0074] In step (a) of the control method of the present invention, the stepper motors 341 of the lifting devices 34 of the defensive net barrier are started sequentially. That is, among the stepper motors 341 of two adjacent lifting devices 34, the stepper motor 341 of the lifting device 34 closest to the power supply 40 is started for a period of time before the stepper motor 341 of the other lifting device 34 is started. In other words, the control method lifts the bottom of the defensive net barrier in segments. In this way, on the one hand, the control method can solve the problem of using The method addresses the issues of power supply attenuation, communication delay and synchronization, power distribution and control of the stepper motors 341 of the lifting devices 34 at the bottom of the defensive barrier. Furthermore, without altering the hardware of the defensive barrier or undertaking complex design modifications, the method can resolve these problems. This significantly reduces the design and construction costs of the defensive barrier and enhances its safety and reliability.

[0075] In step (b), by first uniformly raising the height of the bottom of the defense net barrier and then closing the defense net barrier to open the control channel, the control method can avoid the bottom of the defense net barrier from dragging on the ground, thereby preventing the bottom of the defense net barrier from being pulled and damaged, and thus protecting the defense net barrier.

[0076] In step (d), when the bottom of the defensive barrier is lowered to close the control channel, the activation method of the stepper motors 341 of the lifting devices 34 is unrestricted. For example, the stepper motors 341 of the lifting devices 34 can be activated synchronously to improve the efficiency of closing the control channel. Preferably, similar to the stepper motors 341 of the lifting devices 34 lifting the bottom of the defensive barrier, when the bottom of the defensive barrier is lowered to close the control channel, the stepper motors 341 of the lifting devices 34 are activated sequentially to lower the bottom of the defensive barrier in stages.

[0077] Furthermore, the control method of the present invention employs a heuristic scheduling algorithm to determine how to control the working state of the stepper motors 341 of the lifting devices 34, so that the working state of the stepper motors 341 of the lifting devices 34 can lift the bottom of the defense barrier in segments, thereby reducing the technical difficulty and cost of operating the defense barrier. Specifically, before step (a), the control method further includes the following steps: quantitative analysis calculation and evaluation and adjustment with the power supply 40 as the priority; forward calculation and testing of the optimal situation; reverse testing and adjustment of the worst situation; estimation and strategy adjustment of the overall lifting time of the intermediate group; and overall test evaluation and scheme adjustment.

[0078] First, in the quantitative analysis and calculation steps and the evaluation and adjustment prioritizing the power supply 40, let the total power supply parameter of the power supply 40 be P. z Let the control power supply parameter of the stepper motor 341 be P. c Let k be the number of stepper motors 341 of the lifting device 34 operating simultaneously. Based on energy consumption or power limitations, the upper limit of the number of stepper motors 341 of the lifting device 34 operating simultaneously and the total power supply P of the power supply 40 are... z The control power supply parameter P of the stepper motor 341 c Satisfying relation (1): k = ⌊P z / P c⌋, where the symbol ⌊⌋ is the round-down integer operator. Let T be the total time required to close the defense barrier and open the control channel, and H be the height the bottom of the defense barrier needs to be raised. To prevent the interval ∆t between the activation of the stepper motors 341 of adjacent lifting devices 34 (i.e., the parameter ∆t is the interval between the activation of the stepper motors 341 of two adjacent lifting devices 34) from being too long or the height difference between the bottoms of the net bodies 31 of two adjacent defense barrier components 30 from being too large, let h be the maximum safe height difference between the bottoms of the net bodies 31 of two adjacent defense barrier components 30. For ease of control and timing, let V be the uniform lifting speed parameter of the stepper motor 341 when lifting the bottom of the net body 31. r The uniform descent speed parameter when falling to the bottom of the net body 31 is V. f Because the stepper motor 341 of the lifting device 34 is waterproof, it will shut down for protection when the stepper motor 341 runs for too long or its temperature exceeds C. The overheat protection temperature C of the stepper motor 341 can be set according to the actual parameters of the stepper motor 341. For example, in a specific example of the present invention, the overheat protection temperature C of the stepper motor 341 is 89°C. Thus, when the temperature of the stepper motor 341 exceeds 89°C, it will shut down for protection. The actual power of the stepper motor 341 of the lifting device 34 during operation satisfies the relationship (2): P*η=F*V, where parameter P is the rated power of the stepper motor 341, parameter η is the efficiency factor after power loss due to long-distance transmission, parameter F is the tension in the vertical direction, which is the counterweight of each net body 31 of the defense net assembly 30 when it is lifted or lowered, plus the water resistance or the corresponding buoyancy, and parameter V is the linear velocity of the stepper motor 341 when lifting or lowering the bottom of the net body 31. It can be understood that parameter V can be refined into V r and V f That is, the uniform lifting speed parameter of the stepper motor 341 when lifting the bottom of the mesh body 31 is V. r The uniform descent speed parameter when falling to the bottom of the net body 31 is V. f The torque formula of the stepper motor 341 of the lifting device 34 satisfies the relationship (3): Ñ= k′*F*V / n, where parameter Ñ is the torque of the stepper motor 341, parameter k′ is a constant, and parameter n is the rotational speed. From the relationship V=ω*r=kʺn*r, the linear velocity V of the stepper motor 341 can be converted to the rotational speed n, which is used for programming settings. Since the uniform lifting speed V of the stepper motor 341 of the lifting device 34 is... rAn excessively large force will inevitably increase water resistance, resulting in insufficient pulling force from the stepper motor 341 to lift the bottom of the defensive net barrier. The uniform lifting speed V of the stepper motor 341... r If the stepper motor is too small, it will not meet the time limit T required for closing the defense barrier and opening the control channel. Furthermore, the stepper motor 341 may experience excessive running time and overheating, leading to a shutdown protection state. To ensure high efficiency, the stepper motor 341 of the lifting device 34 operates at a speed of V... r The time taken for Max to raise the height by h is t = h / V r Max, to ensure the safety of the net body 31, the following relationship (4) should be satisfied: t=h / V r Max ≥ ∆t. Since the total number of stepper motors 341 that start sequentially during the period from uniform speed start-up to lifting stop does not exceed k, the relationship (5) is satisfied: ∆t*k ≥ H / V. r Max. Considering H / h = constant, combining relation (4) and relation (5), we obtain relation (6): k = ⌊P z / P c ⌋ ≥H / h. The control power supply P of the stepper motor 341. c As the effective power input and load change, and engineering factors cause H and h to be fixed or only slightly adjustable, the relationship (6) provides an evaluation basis for whether the selection of the power supply 40 is reasonable or whether a hardware upgrade is necessary.

[0079] Secondly, in the forward optimal case calculation and testing of the above steps, the stepper motor 341 of the lifting device 34 close to the power supply 40 has the smallest power loss, and is used as the forward optimal case for calculation and testing. Referring to relation (1) and relation (6), kb is first determined to the maximum extent possible. As mentioned above, parameter k represents the number of stepper motors 341 running simultaneously, and the letter b is an abbreviation for best, representing the optimal group. The letter b appearing below all represent the optimal group. Therefore, kb is the number of stepper motors 341 running simultaneously in the optimal group. The parameter η is taken as 1, and relation (7) V is used. r = [P z [η / k1] / F is used to estimate the feasible maximum value, denoted as V. r b, where k1 is the first stepper motor 341, the parameter ∆t must satisfy (4) and relation (5), let it be ∆tb, so the parameters of the stepper motor 341 in the optimal group are (V r (b, ∆tb, kb). The feasibility of segmenting the bottom of the defensive barrier using these stepper motors 341 in the optimal group can be positively tested and verified. kb and ∆tb can be adjusted; whether efficiency is improved requires comparison of each kb / T value.r b-value, T r b is the time from startup to full lifting of the stepper motor 341 in the optimal group, where (kb / T) r (b) The larger the value, the better the energy efficiency. The optimal group's parameters (V) of the stepper motor 341 r The selection of b, ∆tb, kb is also more reasonable. To simplify grouping, more of the stepper motors 341 can use the same lifting speed V. r b and the delay interval ∆tb can increase the speed V of the stepper motor 341 in the optimal group at a constant speed. r b is reduced or halved, while the delay interval ∆tb is increased, and subsequent improvement tests are conducted to maximize the number of stepper motors 341 (denoted as Nb) in the optimal group, improve efficiency, and simplify the process.

[0080] Furthermore, in the worst-case test and adjustment performed in reverse of the above steps, the value of η in equation (2) decreases due to long-distance transmission and a decrease in actual power supply. Let the measured input voltage parameter Uci of the stepper motor 341 at the remote end (i.e., far from the power supply 40) be and the output port voltage parameter Uco of the power supply be. The parameters η, Uci, and Uco satisfy the following relationship: η = (Uci / Uco) 2 The value of k cannot exceed kb, denoted as kw. As mentioned above, parameter k represents the number of stepper motors 341 running simultaneously. The letter w is an abbreviation for worst, indicating the worst group. The letter w appearing below all represent the worst group. Therefore, kw is the number of stepper motors 341 running simultaneously in the worst group. The feasible solution V is obtained according to the relation (7). r , denoted as V r w; ∆tw is determined according to relations (4) and (5), so that the parameters of the stepper motor 341 in the worst case group are (V r (w, ∆tw, kw), then perform testing and verification. If unsuccessful, appropriately decrease kw and increase V. r w; if V r If w is appropriately reduced, ∆tw should be increased; similarly, let Nw=kw be the number of stepper motors 341 in the worst group, and T r w represents the time from startup to full boost for the worst-case group, where the parameters (V) of the stepper motor 341 for the worst-case group are adjusted. r During the optimization implementation of w,∆tw,kw), (kw / T) r w) remains the evaluation criterion for whether the energy efficiency ratio has improved. Since the stepper motor 341 in the worst group has the lowest energy efficiency ratio, the number Nw of the stepper motor 341 in this group will not be maximized.

[0081] Fourth, in the estimation and strategy adjustment of the overall lifting time of the intermediate group in the above steps, as analyzed in the previous step, if the remaining N-Nb-Nw stepper motors 341 are (V r Using parameters w, ∆tw, kw) for segmented improvement is certainly feasible, essentially increasing the number of stepper motors 341 in the worst-case group. However, the energy efficiency ratio improvement remains at the worst-case level and is not improved. Furthermore, the overall improvement time for the intermediate group is approximately (N-Nb-Nw)*T. r If the total time consumed by the three-segment overall improvement exceeds the required value, the stepper motors 341 in the intermediate segment need to be subdivided into multiple segments, similar to the worst-case group, and the energy efficiency ratio needs to be adjusted and optimized segment by segment. Here, N is the total number of stepper motors 341, Nb is the number of stepper motors 341 in the optimal group, and Nw is the number of stepper motors 341 in the worst-case group. In other words, in some embodiments of the present invention, the control method can further group these stepper motors 341 in the intermediate group, and the grouping method can be an optimal group, a worst-case group, and an intermediate group.

[0082] Finally, in the overall test evaluation and scheme adjustment process described above, the improvement time for the best group, worst group, and intermediate group is estimated and statistically analyzed. When the overall improvement time requirement is still not met after optimization, a new implementation scheme is considered. This involves providing enhanced power to the stepper motors 341 that need to be started sequentially after the worst group, i.e., supplying the output of other redundant power supplies after DC / AC-DC conversion via a nearby module. This ensures that all stepper motors 341 after the worst group can meet the requirements of using the worst group's (V... r The parameters (Δt,k) reduce transmission energy consumption while meeting system requirements.

[0083] In other words, the control method of the present invention employs a heuristic scheduling algorithm to determine how to control the operating states of the stepper motors 341, enabling the stepper motors 341 to raise the bottom of the defense barrier in segments, thereby reducing the technical difficulty and cost of operating the defense barrier. Furthermore, on the one hand, the control method uses a heuristic scheduling algorithm for quantification, calculation, and evaluation to address the complexities of cost-efficiency-safety and reliability-feasibility relationships and influences; on the other hand, the control method uses a heuristic scheduling algorithm to determine how to control the operating states of the stepper motors 341, quickly seeking feasible and near-optimal solutions in a low-cost manner, avoiding the time and costly process of trial and error.

[0084] Referring to Figure 3, in this example of the invention, the stepper motors 341 of the optimal group are started sequentially, and since the parameters of the stepper motors 341 in the optimal group are the same, the uniform lifting speed of the stepper motors 341 in the optimal group is V. r 1. The delayed start time of any two adjacent stepper motors 341 is ∆t1; the stepper motors 341 in the intermediate group are started sequentially, and since the parameters of the stepper motors 341 in the intermediate group are the same, the uniform lifting speed of the stepper motors 341 in the intermediate group is V. r 2. The delayed start time of any two adjacent stepper motors 341 is ∆t2; the stepper motors 341 in the worst group are started sequentially, and since the parameters of the stepper motors 341 in the worst group are the same, the uniform lifting speed of the stepper motors 341 in the worst group is V. r 3. The delayed start time of two adjacent stepper motors 341 is ∆t3, and V r 1 < V r 2 < V r 3. ∆t1<∆t2<∆t3, thus, the bottom of the defensive net barrier can be raised within a specified time, ensuring the safety and reliability of the defensive net barrier.

[0085] In a specific example of the defensive net barrier of the present invention, the actual length of the sequentially connected defensive net components 30 of the defensive net barrier is 204 meters, and the number of lifting devices 34 is 68, that is, the bottom of the defensive net barrier requires 68 stepper motors 341 to lift. When the defensive net barrier needs to be retracted to open the control channel, the bottom of the defensive net barrier needs to be lifted to a height H of 2 meters. The height difference h between the bottoms of the net bodies 31 of two adjacent defensive net components 30 is less than or equal to 20 centimeters. The time limit T for retracting the defensive net barrier to open the control channel is less than or equal to 9 minutes. The weight of each defensive net component 30 is 90 kilograms. Considering the water resistance and buoyancy F during lifting, it is 900±100N. The stepper motors 341 of the lifting devices 34 have two power supplies, one of which is a power supply with rated values ​​of 12-72. VDC, 9.0A, 9.0Nm, another control power supply with parameters of 7-28VDC (must be <30V to ensure safety), the maximum power of the power supply 40 is 500W, output 12 / 24 / 48Vdc, and the overheat protection temperature C of the stepper motor 341 is 89℃.

[0086] In one embodiment of the control method of the present invention, the control method groups the stepper motors 341 of the lifting devices 34 into an optimal group, a worst group, and an intermediate group, so as to control the working state of the stepper motors 341 of the lifting devices 34 respectively.

[0087] Specifically, firstly, the power supply 40 is evaluated and initially adjusted from an energy perspective. In this specific example of the invention, the ratio of the height H that the bottom of the defense barrier needs to be raised to the height difference h between the bottoms of the mesh bodies 31 of two adjacent defense barrier components 30 is: H / h = 10. When operating under load, the control power supply P of the stepper motor 341 is... c The maximum total power supply of the power supply 40 is P, which is 90±15W. z Max = 500W. From equation (1), we know that k = ⌊P z / P c ⌋Max=5; Substitute into relation (6) k=⌊P z / P c The verification of ≥H / h is clearly invalid. At this time, the control power supply P of the stepper motor 341 is... c It needs to be increased by at least double, relation (6) k=⌊P z / P c The condition is only valid if the power supply is ≥H / h, meaning that a single power source with the same output needs to be connected in parallel.

[0088] Secondly, worst-case voltage drop testing and adjustment were performed. The CVI input voltage of the 68th stepper motor 341 must not be lower than 12V, while the CVI input voltage of the 1st stepper motor 341 must not be higher than 30V. Considering safety redundancy, the CVI input voltage was finally adjusted to 28.5Vdc.

[0089] Next, optimal testing and adjustment. The constant-speed lifting parameter V of the stepper motor 341... r The feasible value is estimated to be V. r = [P z *η / k] / F≈[2*500W*1 / 10] / 1000N=10cm / s. By consulting the load-related icons of the stepper motor 341, estimating the relevant parameter values, and combining with equations (2) and (3), the rotational speed n of the stepper motor 341 can be estimated and used for PLC programming. Considering that the subsequent 10 or even 30 stepper motors 341 need to be improved using the same (Vr,∆t) parameter values ​​as the first 10 stepper motors 341 to improve efficiency, V can be tentatively selected. rb=5cm / s; according to equations (4) and (5), take ∆tb=4S to test and verify the first 40, the test is completely passed, indicating that Nbmax=40. That is to say, the number of stepper motors 341 in the optimal group can be 40.

[0090] Fourth, worst-case testing and adjustments are performed. Based on the CVI output of 28.5Vdc, the input to the 68th stepper motor 341 will be 12-14Vdc, approximately a reduction of 1 / 2, resulting in a decrease in the total power supply P of the power supply 40. z The efficiency factor η decreases to approximately (1 / 2)² = 0.25. To ensure that a maximum of k = 10 stepper motors 341 can operate simultaneously, the feasible estimate of the uniform lifting speed parameter Vr of the stepper motor 341 is: V r W = [P] z *η / k] / F≈[2*500W*0.25 / 10] / 1000N=2.5cm / s;

[0091] According to equations (4) and (5), taking ∆tw=10s, the reverse test and inspection are performed on the 68th to 59th stepper motors 341, which all pass, i.e., Nw=kw=10, VrW=2.5cm / s, ∆tw=10s. In other words, the number of stepper motors 341 in the worst group can be 10.

[0092] Fifth, calculation, evaluation, and adjustment of intermediate parameters. Based on the objective rule that the power supply loss of stepper motors 341 from the 58th to the 41st is less than that of the last 10 stepper motors 341, the parameters for stepper motors 341 from the 58th to the 41st will definitely pass the worst-case test and adjustment. To improve efficiency, the worst-case test and adjustment steps can be referenced, and the parameters (V) can be reselected. r The parameters ∆t,k) = (4cm / s,5s,9) are used to achieve optimization, and the number of stepper motors 341 in the middle group is 18.

[0093] Sixth, overall testing and evaluation, and scheme optimization and adjustment. The final result is based on the component parameters (V... rThe grouping and optimization results of the stepper motors 341 are as follows: the first 40 stepper motors 341 are grouped into (5cm / s, 4s, 10), the middle 20 stepper motors 341 are grouped into (4cm / s, 5s, 9), and the last 8 stepper motors 341 are grouped into (3cm / s, 6.4s, 8). The start-up delay between two adjacent stepper motors 341 in the first two groups is 4 seconds, and the start-up delay between two adjacent stepper motors 341 in the latter two groups is 5 seconds. The overall lifting completion time is less than 8.5 minutes. The first two groups of stepper motors 341 refer to one group of stepper motors 341 consisting of the first 40 stepper motors 341 and another group of stepper motors 341 consisting of the middle 20 stepper motors 341. The latter two groups of stepper motors 341 refer to one group of stepper motors 341 consisting of the middle 20 stepper motors 341 and another group of stepper motors 341 consisting of the last 8 stepper motors 341.

[0094] Furthermore, if the lifting time requirement for the bottom of the defensive barrier is increased to within 6 minutes, an additional power supply 40 can be added to supply power to the stepper motors 341 of the worst-case group, so that all the stepper motors 341 are started successively with the same delay interval, and the uniform lifting speed of these stepper motors 341 is the same. In other words, the total power supply P z The power supply capacity is doubled, and the first to the 40th stepper motors 341 are still started using (Vr,∆t,k) = (5cm / s,4s,10).

[0095] A DC-DC module is added at the 40th hoisting winch as an additional power supply 40. The output of the 12-72VDC wide voltage power supply is converted to 28Vdc output and then supplied to the VCI of the 41st to 68th stepper motors 341. This ensures that the last 28 stepper motors 341 are also started in succession while meeting the operating parameters (Vr,∆t,k) = (5cm / s,4s,10). In this way, the lifting time of the bottom of the defense net barrier is shortened to about 5 minutes.

[0096] Those skilled in the art should understand that the embodiments of the present invention described above and shown in the accompanying drawings are merely examples and do not limit the present invention. The objectives of the present invention have been fully and effectively achieved. The functions and structural principles of the present invention have been demonstrated and explained in the embodiments, and any variations or modifications may be made to the implementation of the present invention without departing from the stated principles.

Claims

1. A method for controlling a defensive network barrier, characterized in that, The defensive net barrier includes pull cables, multiple connecting cables, and multiple defensive net components. Each defensive net component includes a net body, a float frame, a float, and a lifting device. The float frame is located on top of the net body, and the float is located on the float frame. The lifting device includes a stepper motor, a drum mounted on the output shaft of the stepper motor, and a lifting cable operably wound around the drum at one end. The other end of the lifting cable is connected to the bottom of the net body. The net bodies of two adjacent defensive net components are connected, and the float frames or floats of two adjacent defensive net components are connected by the connecting cables. The outermost one... The floating frame of the defense net assembly is fixedly connected to the traction cable, and the floating frame of another defense net assembly is movably connected to the traction cable. The control method includes the following steps: (a) after a stepper motor near the power supply has been started for a period of time, an adjacent stepper motor is started to raise the bottom of the defense net barrier in sections; (b) after the bottom of the defense net barrier has been raised uniformly, one defense net assembly fixedly connected to the traction cable is pulled to one side via the traction cable, and the pulled defense net assembly sequentially pulls the remaining defense net assemblies to retract them. (c) Opening the control channel by means of the defense net barrier; (d) Pulling one of the defense net components fixedly connected to the pull cable to the other side by means of the pull cable, the pulled defense net component pulls the remaining defense net components in sequence to unfold the defense net barrier; (e) Activating the stepper motor to lower the bottom of the defense net barrier to close the control channel, in step (d), after the stepper motor near the power supply starts moving, the adjacent stepper motor is activated to lower the bottom of the defense net barrier in segments; wherein, before step (a), the control method further includes the step of: placing this The stepper motors are grouped for group control. The steps of grouping the stepper motors include: quantitative analysis and calculation, and evaluation and adjustment prioritizing the power supply; forward calculation and testing of the optimal case to group the stepper motors closer to the power supply into the optimal group; reverse testing and adjustment of the worst case to group the stepper motors farther from the power supply into the worst group; estimation and strategy adjustment of the overall lifting time in the intermediate section to group all the stepper motors between the optimal group and the worst group into the intermediate group; and overall testing evaluation and scheme adjustment.

2. The method for controlling the defensive barrier according to claim 1, characterized in that, In step (a), the number of stepper motors operating simultaneously is greater than or equal to the ratio of the overall height at which the bottom of the defense net barrier is raised to the vertical height difference between the bottoms of two adjacent net bodies.

3. The method for controlling the defensive barrier according to claim 1, characterized in that, Let k be the number of stepper motors operating simultaneously, and P be the total power supply of the power source. z Let the control power supply parameter of the stepper motor be P. c Then the parameters k and P z and P c Satisfying relation (1): k= P z / P c ,symbol Let V be the linear velocity parameter of the stepper motor, P be the rated power parameter of the stepper motor, η be the efficiency factor parameter after power loss due to long-distance transmission, and F be the parameter of the counterweight gravity plus water resistance or water buoyancy when the bottom of the net is lifted or lowered. Then parameters P, η and F satisfy the relationship (2): P*η=F*V; let Ñ be the torque parameter of the stepper motor, n be the speed parameter, and k′ be a constant. Then parameters Ñ, n and k′ satisfy the relationship (3): Ñ= k′*F*V / n, and V=ω*r=k n*r converts the linear velocity V of the stepper motor to its rotational speed n; let T be the total time required to close the defense barrier and open the control channel, let H be the height the bottom of the defense barrier needs to be raised, and let the time interval between the activation of two adjacent stepper motors be... Let t be the safety height difference parameter between the bottoms of two adjacent mesh bodies, and let V be the uniform lifting speed parameter of the stepper motor. r Let the uniform falling speed parameter of the stepper motor be V. f The stepper motor described herein uses V r The time required for Max to raise the height by h satisfies the relationship (4): t=h / V r Max≥ t, where the parameter t, k, H and V r Satisfying relation (5): t*k≥H / V r Max, where H / h is a constant, therefore, combining relation (4) and relation (5), we obtain relation (6): k= P z / P c ≥H / h。 4. The method for controlling the defensive barrier according to claim 3, characterized in that, The parameters of the stepper motor used to determine the optimal group are (V) r b, tb,kb), wherein the steps for determining the parameters of the stepper motor in the optimal group include: first, determining kb according to relation (1) and relation (6); second, taking parameter η=1, and using relation (7) V r = [P z [η / k1] / F is used to estimate the feasible maximum value, denoted as V. r b; Secondly, based on satisfying relations (4) and (5), determine tb。 5. The method for controlling the defensive barrier according to claim 4, characterized in that, The parameters of the stepper motor in the worst-case group are determined as (V) r w, tw,kw), wherein the steps for determining the parameters of the stepper motor in the worst group include: first, assuming the measured input voltage parameter of the stepper motor at the remote end is Uci, and assuming the output port voltage parameter of the power supply is Uco, the parameters η, Uci and Uco satisfy the relationship: η=(Uci / Uco) 2 The worst group's k value is less than kb, denoted as kw; secondly, the feasible solution V is obtained according to relation (7). r , denoted as V r w; again, based on satisfying relations (4) and (5), determine tw。 6. The method for controlling the defensive network barrier according to claim 5, characterized in that, The parameters of the stepper motor in the intermediate group are determined as (V) r w, tw,kw).

7. The method for controlling the defensive network barrier according to claim 5, characterized in that, The stepper motors in the intermediate group are grouped together to control these stepper motors in the intermediate group.

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