Constant tension control method and system for hydraulic mooring device for ship mooring

Abstract

The invention discloses a hydraulic mooring device constant tension control method and system for ship mooring. The method comprises the steps that historical external disturbing force data of a hydraulic mooring device and a ship mooring rope are obtained; according to the historical external disturbing force data, training to obtain a disturbing force prediction model, and according to the disturbing force prediction model, obtaining an external disturbing force after the control valve is adjusted for a preset delay time; and inputting the external disturbing force into a preset fuzzy PID controller to obtain the opening degree of a control valve, and performing constant tension control on the hydraulic mooring device according to the opening degree of the control valve. The opening degree of the control valve of the hydraulic mooring device can be adjusted according to external disturbance force, so that tension fluctuation of a ship mooring rope is reduced, the situation of economic loss caused by breakage of the mooring rope or collision between a ship and a wharf during mooring is reduced, the mooring safety and reliability are improved, and the hydraulic mooring device can be widely applied to the technical field of ship safety.

Description

Technical Field

[0001] The present application relates to the field of ship safety technology, and in particular to a constant tension control method and system for a hydraulic mooring device used for ship mooring. Background Art

[0002] At present, the research on ship mooring tension control mainly focuses on improved classical control methods and data-driven methods. The improved classical control methods have good reliability in regulating ship mooring tension. However, the accuracy of these methods is highly dependent on real-time data. And due to the time delay of control valve adjustment, it is difficult to accurately control mooring tension based on real-time data under actual conditions. In addition, some methods also contain uncertain factors (expert judgment and empirical knowledge), which makes mooring tension control have a large degree of uncertainty.

[0003] In recent years, with the development of big data technology, data-driven methods have become a feasible way to control the tension of ship moorings. At present, the application of related methods in the field of mooring cable tension control is still in its early stages. Due to the large data demand, these methods are most effective in scenarios with large amounts of historical data. On the contrary, under harsh conditions, these methods cannot accurately adjust the cable tension due to the lack of sufficient data. Summary of the invention

[0004] In order to solve the above technical problems, the object of the present invention is to provide a constant tension control method and system for a hydraulic mooring device for ship mooring with high safety and reliability.

[0005] To achieve the above-mentioned purpose, one aspect of an embodiment of the present application provides a method for controlling constant tension of a hydraulic mooring device for ship mooring, comprising the following steps:

[0006] Acquiring historical external disturbance force data of the hydraulic mooring device and the ship's mooring rope;

[0007] A disturbance force prediction model is obtained by training the historical external disturbance force data, and the external disturbance force after adjusting the control valve delay for a preset time is obtained according to the disturbance force prediction model;

[0008] The external disturbance force is input into a preset fuzzy PID controller to obtain a control valve opening, and constant tension control is performed on the hydraulic mooring device according to the control valve opening.

[0009] In some embodiments, the training of the interference force prediction model based on the historical external interference force data specifically includes:

[0010] Normalizing the historical external disturbance force data, and then dividing the normalized historical external disturbance force data into a training set and a verification set;

[0011] Construct an LSTM neural network model, and set the learning rate, maximum number of iterations, convergence conditions, and number of hidden layers of the LSTM neural network model;

[0012] Inputting the training set and the verification set into the LSTM neural network model, and training the LSTM neural network model through a preset loss function to obtain the interference force prediction model;

[0013] The LSTM neural network model includes a forget gate, a memory gate and an output gate.

[0014] In some embodiments, obtaining the external disturbance force after adjusting the control valve delay for a preset time according to the disturbance force prediction model specifically includes:

[0015] Acquire a plurality of first external disturbance forces before adjusting the control valve delay time before the preset time in different time sequences;

[0016] The first external disturbance force is input into the disturbance force prediction model to obtain the external disturbance force after adjusting the control valve delay for a preset time.

[0017] In some embodiments, the step of inputting the external disturbance force into a preset fuzzy PID controller to obtain the control valve opening specifically includes:

[0018] Constructing the fuzzy PID controller;

[0019] The external disturbance force is input into the fuzzy PID controller, and the control parameters in the fuzzy PID controller are adjusted by a simulated annealing optimization algorithm to obtain the control valve opening;

[0020] The control parameters include control proportion, control integral and control differential coefficient.

[0021] In some embodiments, the control parameters in the fuzzy PID controller are adjusted by a simulated annealing optimization algorithm to obtain the control valve opening, specifically including:

[0022] Set the objective function;

[0023] The control parameter is adjusted according to the objective function by the simulated annealing optimization algorithm to obtain the control valve opening.

[0024] In some embodiments, the adjusting the control parameter according to the objective function by the simulated annealing optimization algorithm to obtain the control valve opening specifically includes:

[0025] Setting an initial temperature, a temperature threshold, an iteration threshold, and a cooling rate, and setting a search space for the control ratio, the control integral, and the control differential coefficient;

[0026] Randomly generating initial values ​​of the control ratio, the control integral and the control differential coefficient in the search space;

[0027] Lowering the initial temperature according to the cooling rate to obtain a current temperature;

[0028] Setting a random coefficient, and updating each of the initial values ​​according to the random coefficient so that the objective function obtains a maximum value;

[0029] When the current temperature is lower than the temperature threshold, or the number of updates is higher than the iteration number threshold, the updating is stopped to obtain the control valve opening.

[0030] In some embodiments, the fuzzy PID controller is:

[0031]

[0032] Among them, O pT,t represents the control valve opening, O pT,0 Indicates the initial opening of the control valve. represents the external disturbance force, K P,z represents the control ratio, T i,z represents the control integral, T d,z represents the control differential coefficient.

[0033] To achieve the above-mentioned purpose, another aspect of the embodiment of the present application provides a constant tension control system of a hydraulic mooring device for ship mooring, comprising:

[0034] A historical data acquisition module, used to acquire historical external disturbance force data of the hydraulic mooring device and the ship mooring rope;

[0035] An interference force prediction module, used for obtaining an interference force prediction model according to the historical external interference force data training, and obtaining the external interference force after adjusting the control valve delay for a preset time according to the interference force prediction model;

[0036] The control valve opening calculation module is used to input the external disturbance force into a preset fuzzy PID controller to obtain the control valve opening, and perform constant tension control on the hydraulic mooring device according to the control valve opening.

[0037] To achieve the above-mentioned purpose, another aspect of an embodiment of the present application proposes an electronic device, which includes a memory, a processor, a program stored in the memory and executable on the processor, and a data bus for realizing connection and communication between the processor and the memory. When the program is executed by the processor, the constant tension control method of the hydraulic mooring device for ship mooring as described above is realized.

[0038] To achieve the above-mentioned purpose, another aspect of an embodiment of the present application proposes a storage medium, which is a computer-readable storage medium used for computer-readable storage, and the storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the constant tension control method of the hydraulic mooring device for ship mooring as described above.

[0039] The beneficial effects of the present invention are as follows: the constant tension control method and system of the hydraulic mooring device for ship mooring of the present invention first predicts the external disturbance force after delay based on the historical external disturbance force data of the hydraulic mooring device and the ship mooring cable, obtains the external disturbance force after the delay of the hydraulic mooring device control valve adjustment, and then uses the fuzzy PID controller with the external disturbance force as input and the control valve opening as output to adjust the control valve opening, so as to achieve the constant mooring tension under the influence of time-varying external disturbance force. The present invention can adjust the control valve opening of the hydraulic mooring device according to the external disturbance force to reduce the tension fluctuation of the ship's mooring cable, and reduce the occurrence of economic losses caused by the breakage of the mooring cable or the collision of the ship with the dock during mooring, thereby improving the safety and reliability of mooring. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solution in the embodiments of the present invention, the following introduction is made to the drawings required for use in the embodiments of the present invention. It should be understood that the drawings introduced below are only for the convenience of clearly describing some embodiments of the technical solution of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0041] Figure 1 A flowchart of a method for controlling a constant tension of a hydraulic mooring device for ship mooring provided by an embodiment of the present invention;

[0042] Figure 2 A diagram of changes in external interference forces provided by an embodiment of the present invention;

[0043] Figure 3 A diagram showing the effect of external disturbance force prediction after delay in adjusting the control valve provided by an embodiment of the present invention;

[0044] Figure 4A diagram showing the effect of mooring tension control of a hydraulic mooring device under the influence of an external disturbance force provided by an embodiment of the present invention;

[0045] Figure 5 A structural schematic diagram of a constant tension control system of a hydraulic mooring device for ship mooring provided by an embodiment of the present invention;

[0046] Figure 6 A schematic diagram of the hardware structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application is further described in detail below in conjunction with the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the embodiments of the present application. They are only examples of devices and methods consistent with some aspects of the embodiments of the present application as detailed in the attached claims.

[0048] It is understood that the terms "first", "second", etc. used in this application can be used to describe various concepts in this article, but unless otherwise specified, these concepts are not limited by these terms. These terms are only used to distinguish one concept from another concept. For example, without departing from the scope of the embodiment of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the words "if" and "if" as used herein can be interpreted as "at the time of" or "when" or "in response to determination".

[0049] The terms "at least one", "multiple", "each", "any", etc. used in this application, at least one includes one, two or more, multiple includes two or more, each refers to each of the corresponding multiple, and any refers to any one of the multiple.

[0050] The method of limiting the movement of ships by using cables fixed on bollards is widely used in ship mooring. However, when a ship is moored, it will be affected by external interference such as wind, waves, currents, and other ships, resulting in uneven stress distribution of the mooring cables, which can lead to mooring accidents such as cable breakage or ship drift, causing property losses and even casualties. With the continuous development of water transportation, the size and tonnage of ships are also steadily increasing, resulting in more and more frequent mooring accidents. Maintaining a constant tension in the cable can increase the friction between the ship and the fender, thereby limiting the movement of the ship. At the same time, it can prevent sudden changes in the tension of the mooring cable, thereby effectively reducing the risk of such accidents and improving the overall safety and stability of the mooring system.

[0051] At present, the research on ship mooring tension control mainly focuses on (a) improved classical control methods and (b) data-driven methods. In addition to the traditional ship mooring method based on mooring cables, the use of mechanical arm mooring devices to improve the safety of ship mooring has attracted the attention of researchers in recent years. At present, the research on ship mooring tension control mainly focuses on improved classical control methods and data-driven methods. The improved classical control method has good reliability in adjusting the ship mooring tension. However, the accuracy of these methods is highly dependent on real-time data. And due to the time delay of control valve adjustment, it is difficult to accurately control the mooring tension based on real-time data under actual conditions. In addition, some methods also contain uncertain factors (expert judgment and empirical knowledge), which makes the mooring tension control have a large degree of uncertainty.

[0052] In recent years, with the development of big data technology, data-driven methods have become a feasible way to control the tension of ship moorings. At present, the application of related methods in the field of mooring cable tension control is still in its early stages. Due to the large data demand, these methods are most effective in scenarios with large amounts of historical data. On the contrary, under harsh conditions, these methods cannot accurately adjust the cable tension due to the lack of sufficient data.

[0053] In addition to the traditional ship mooring method based on mooring cables, the use of robotic arm mooring devices to improve ship mooring safety has attracted the attention of researchers in recent years. However, the current robotic arm-based mooring devices are complex in structure and have high production and maintenance costs. In addition, there are many parameters that need to be controlled, which increases the difficulty of controller design.

[0054] To this end, the embodiment of the present invention proposes a constant tension control method for a hydraulic mooring device for ship mooring. First, according to the historical external disturbance force data of the hydraulic mooring device and the ship's mooring rope, the delayed external disturbance force is predicted to obtain the external disturbance force after the delay of the hydraulic mooring device control valve adjustment, and then the fuzzy PID controller with the external disturbance force as input and the control valve opening as output is used to adjust the control valve opening to achieve constant mooring tension under the influence of time-varying external disturbance force. The present invention can adjust the control valve opening of the hydraulic mooring device according to the external disturbance force to reduce the tension fluctuation of the ship's mooring rope, and reduce the occurrence of economic losses caused by the breakage of the mooring rope or the collision of the ship with the dock during mooring, thereby improving the safety and reliability of mooring.

[0055] Reference Figure 1 , Figure 1 The present invention provides a flow chart of the steps of a constant tension control method of a hydraulic mooring device for ship mooring. The present invention provides a constant tension control method of a hydraulic mooring device for ship mooring, which is applied to a hydraulic mooring device, wherein the hydraulic mooring device includes a control valve. The method includes steps S101 to S103:

[0056] S101, obtaining historical external disturbance force data of the hydraulic mooring device and the ship's mooring rope;

[0057] In some optional embodiments, the hydraulic mooring device comprises an accumulator, a control valve and a plunger cylinder. The acquired historical external disturbance force data of the hydraulic mooring device and the ship's mooring rope include the external disturbance time and the magnitude of the external disturbance force. Figure 2 The figure shows the change of the external disturbance force. In the embodiment of the present invention, a sinusoidal external disturbance force with added random disturbance is set.

[0058] S102, obtaining a disturbance force prediction model based on historical external disturbance force data, and obtaining the external disturbance force after the control valve is adjusted after a preset delay time based on the disturbance force prediction model;

[0059] As an optional implementation, the step of obtaining the interference force prediction model through training according to the historical external interference force data can be specifically divided into the following steps S1021 to S1023:

[0060] S1021, normalizing the historical external disturbance force data, and then dividing the normalized historical external disturbance force data into a training set and a verification set;

[0061] In some optional embodiments, the maximum and minimum values ​​of the external interference force in the historical external interference force data are screened out, and the normalization process is performed using the following formula, and then the normalized external interference force is recombined with the original external interference time to form a new data set, and then the data set is divided into a training set and a validation set with a ratio of 8 to 2:

[0062]

[0063] Among them, D n,i represents the normalization result of the i-th data, D min and D max Respectively represent the maximum and minimum values ​​of the data to be normalized, D o,i Represents the value of the i-th data to be normalized.

[0064] For example, in the example of the present invention, the minimum value of the external interference force is -95822.74, and the maximum value is 155975.66. Taking the first second as an example, when the external interference force is 120398.17, the normalized result is as follows:

[0065]

[0066] S1022. Build an LSTM neural network model, and set the learning rate, maximum number of iterations, convergence conditions, and number of hidden layers of the LSTM neural network model;

[0067] Among them, the LSTM neural network model includes a forget gate, a memory gate and an output gate.

[0068] Specifically, the LSTM (Long Short-Term Memory) neural network model includes a forget gate, a memory gate, and an output gate. The LSTM neural network model is constructed by the following formula:

[0069]

[0070] c t =f t c t-1 +i t g t

[0071]

[0072] h t =o t tanh(c t )

[0073] Among them, g t Indicates the state of the unit to be selected, i t represents the amount of data information input to the current LSTM unit, f tIndicates the remaining amount of data information after the previous LSTM unit passes through the forget gate, as well as is the weight matrix, b c , b i and b f Indicates the deviation value, h t-1 represents the input fraction of the LSTM unit, x t represents the input score at time t, tanh(·) represents the hyperbolic tangent activation function in the range of (-1, 1), σ(·) represents the sigmoid activation function in the range of (0, 1), and c t Indicates the last storage unit value of the memory gate, o t represents the output gate score, and represents the output gate weight, b o is the deviation matrix, h t Represents the output score of the LSTM unit.

[0074] After establishing the LSTM neural network model, set the parameter values ​​of the learning rate, the maximum number of iterations, the convergence condition, and the number of hidden layers. For example, in the embodiment of the present invention, the learning rate is set to 0.01, the maximum number of iterations is set to 4000, the convergence condition is error < 0.000001, and the number of hidden layers is set to 64.

[0075] S1023, inputting the training set and the validation set into the LSTM neural network model, and training the LSTM neural network model through a preset loss function to obtain an interference force prediction model;

[0076] Specifically, the training set and the validation set are input into the LSTM neural network model, and the established LSTM neural network model is iteratively trained through the following loss function to obtain the interference force prediction model to achieve accurate prediction of the external interference force after delay:

[0077]

[0078] Among them, N n Represents the total number of predicted data, represents the predicted value of the i-th data after normalization, E ndp,i represents the true value of the i-th data after normalization, L fu Represents the loss predicted by the LSTM neural network model.

[0079] As an optional implementation, the step of obtaining the external disturbance force after the delay of the control valve after the preset time is adjusted according to the disturbance force prediction model can be specifically divided into the following steps S1024 and S1025:

[0080] S1024, obtaining a first external disturbance force before a preset delay time of a plurality of regulating control valves of different time sequences;

[0081] S1025. Input the first external disturbance force into a disturbance force prediction model to obtain the external disturbance force after the control valve is adjusted to delay for a preset time.

[0082] In some optional embodiments, the interference force prediction model uses the external interference force before the adjustment of n control valves in time sequence as input, and the external interference force after the control valve adjustment delay as output, wherein n and the preset time of the control valve delay can be set according to actual needs. In the embodiment of the present invention, n=5, the data sampling time is 0.04s, and the control valve adjustment delay is 0.1 seconds. Taking the prediction of the external interference force at the 1st second as an example, the external interference forces at 0.72 seconds, 0.76 seconds, 0.80 seconds, 0.84 seconds and 0.88 seconds are used as input, and the external interference force at the 1st second is the target output. The interference force prediction model neural network model is introduced for prediction, such as Figure 3 The figure shows the prediction effect of external disturbance force after the control valve adjustment delay, and the prediction error is 3.9%.

[0083] S103, inputting the external disturbance force into a preset fuzzy PID controller to obtain the control valve opening, and performing constant tension control on the hydraulic mooring device according to the control valve opening.

[0084] As an optional implementation, the step of inputting the external disturbance force into a preset fuzzy PID controller to obtain the control valve opening can be specifically divided into the following steps S1031 and S1032:

[0085] S1031, constructing a fuzzy PID controller;

[0086] S1032, inputting the external disturbance force into the fuzzy PID controller, and adjusting the control parameters in the fuzzy PID controller by using a simulated annealing optimization algorithm to obtain the control valve opening;

[0087] Among them, the control parameters include control proportion, control integral and control differential coefficient.

[0088] As an optional implementation, the fuzzy PID controller is:

[0089]

[0090] Among them, O pT,t Indicates the control valve opening, O pT,0 Indicates the initial opening of the control valve. represents the external disturbance force, K P,z Indicates the control ratio, T i,z represents the control integral, T d,zrepresents the control differential coefficient.

[0091] Specifically, a fuzzy PID controller is established with the predicted external disturbance force after the control valve adjustment delay as input and the hydraulic mooring device control valve opening as output. In the embodiment of the present invention, the proposed initial opening of the control valve is 0.29, and the control equation of the fuzzy PID controller is:

[0092]

[0093] As an optional implementation, the step of adjusting the control parameters in the fuzzy PID controller by using a simulated annealing optimization algorithm to obtain the control valve opening can be specifically divided into the following steps S10321 and S10322:

[0094] S10321, setting the objective function;

[0095] Specifically, the objective function takes into account the error accumulation in the entire control process and the total mooring tension control time, and is defined based on the accumulated mooring tension control error. The objective function set in the embodiment of the present invention is as follows:

[0096]

[0097] Among them, F Ae represents the cumulative mooring tension control error, F e,t represents the mooring tension control error at time t, T n represents the total mooring tension control time, O F Represents fitness. The smaller the cumulative mooring tension control error and the shorter the total control time, the higher the value of the objective function (i.e., fitness).

[0098] S10322, adjusting the control parameters according to the objective function through a simulated annealing optimization algorithm to obtain the control valve opening;

[0099] As an optional implementation, step S10322 can be specifically divided into the following steps S103221 to S103225:

[0100] S103221, setting the initial temperature, temperature threshold, iteration number threshold and cooling rate, and setting the search space of the control proportion, control integral and control differential coefficients;

[0101] S103222. Randomly generate initial values ​​of control proportion, control integral and control differential coefficient in the search space;

[0102] Specifically, the simulated annealing algorithm is a heuristic search algorithm used to solve global optimization problems. It imitates the process of metal cooling annealing and avoids falling into the local optimal solution by probabilistically accepting a poor solution. First, set the initial temperature (T0), the temperature threshold (i.e., the minimum temperature T m ), the iteration number threshold (i.e. the maximum number of iterations I max ), cooling rate (C R ), control parameters (i.e. control ratio K P,z , control integral T i,z , control differential coefficient T d,z Then, the initial values ​​of each control parameter are randomly generated in the search space.

[0103] For example, in the embodiment of the present invention, the initial temperature T0 is set to 100000000, and the temperature threshold T m =0, iterative number threshold I max =2000, cooling rate C R =0.95. The search space of each control parameter is set as follows:

[0104] K P,z =[-0.0000025,-0.0000015],

[0105] T i,z =[10000000, 100000000],

[0106] T d,z =[-0.0001, 0.0001]

[0107] S103223, lowering the initial temperature according to the cooling rate to obtain the current temperature;

[0108] Specifically, as the algorithm begins to iterate, the initial temperature begins to decrease continuously to simulate the gradual decrease in temperature during metal annealing. The calculation method is as follows:

[0109] T C =T max (C R ) ic

[0110] Among them, T C Represents the current temperature, and ic represents the current iteration number.

[0111] S103224, setting a random coefficient, and updating each initial value according to the random coefficient so that the objective function obtains a maximum value;

[0112] S103225. When the current temperature is lower than the temperature threshold, or the number of updates is higher than the iteration number threshold, stop updating and obtain the control valve opening.

[0113] Specifically, the control ratio K P,z , control integral T i,z , control differential coefficient T d,z (In the icth generation, the control ratio K P,z , control integral T i,z , control differential coefficient T d,z The optimal value of K P,z,ic-1 、T i,z,ic-1 、T d,z,ic-1 The area near the value is continuously updated to find the fitness O in the objective function. F Get the optimal combination of the maximum value until the termination condition (current temperature T C Less than the temperature threshold T m , or the update number (i.e. the current iteration number) ic is greater than the iteration number threshold I max ).

[0114] Next, we introduce the random coefficient R a To prevent the algorithm from falling into a local optimal solution. a The calculation method is as follows:

[0115]

[0116] When O F,ic-1 <O F,ic When there is still R a The probability of using K P,z,ic-1 、T i,z,ic-1 、T d,z,ic-1 As the optimal solution of the algorithm.

[0117] Finally, with the continuous iteration of the algorithm, the control parameters (i.e., the control ratio K) are obtained. P,z , control integral T i,z and the control differential coefficient T d,z ), and the optimal value is substituted into the control equation of the fuzzy PID controller to obtain the control valve opening for constant tension control of the hydraulic mooring device, as shown in Figure 4 The figure shows the effect of mooring tension control of hydraulic mooring device under the influence of external disturbance force.

[0118] In the embodiment of the present invention, after optimization, K P,0 =-2.19×10 -6 、T i,0 =56970440.20, T d,0 =9.48×10 -7 ; K P,1 =-2.4×10 -6 、T i,0 =49984645.36, Td,1 =2.48×10 -5 .

[0119] The above is a description of the constant tension control method of the hydraulic mooring device for ship mooring according to the embodiment of the present invention. It can be recognized that, compared with the ship mooring tension control method in the prior art, the embodiment of the present invention constructs a disturbance force prediction model based on the historical external disturbance force data of the hydraulic mooring device and the collected ship mooring cable, predicts the external disturbance force after the control valve adjustment delay, and obtains the external disturbance force after the control valve adjustment delay of the hydraulic mooring device. Then, a fuzzy PID controller with external disturbance force as input and control valve opening as output is constructed, and the control parameters are adjusted by the simulated annealing optimization algorithm to achieve constant mooring tension under the influence of time-varying external disturbance force. The present invention can predict the external disturbance force on the mooring cable after the control valve adjustment delay, and adjust the control valve opening of the mooring device according to the external disturbance force to reduce the tension fluctuation of the mooring cable, so as to reduce the tension fluctuation of the ship mooring cable, and reduce the occurrence of economic losses caused by the breakage of the mooring cable or the collision between the ship and the dock during mooring, thereby improving the safety and reliability of mooring.

[0120] Reference Figure 5 The embodiment of the present invention further provides a constant tension control system of a hydraulic mooring device for ship mooring, comprising:

[0121] A historical data acquisition module, used to acquire historical external disturbance force data of the hydraulic mooring device and the ship's mooring rope;

[0122] An interference force prediction module is used to obtain an interference force prediction model based on historical external interference force data training, and obtain the external interference force after the control valve is adjusted after a preset delay time according to the interference force prediction model;

[0123] The control valve opening calculation module is used to input the external disturbance force into the preset fuzzy PID controller to obtain the control valve opening, and perform constant tension control on the hydraulic mooring device according to the control valve opening.

[0124] The contents of the above-mentioned embodiments of the constant tension control method of a hydraulic mooring device for ship mooring are all applicable to the embodiments of the constant tension control system of a hydraulic mooring device for ship mooring. The functions specifically implemented by the embodiments of the constant tension control system of a hydraulic mooring device for ship mooring are the same as those of the above-mentioned embodiments of the constant tension control method of a hydraulic mooring device for ship mooring, and the beneficial effects achieved are also the same as those achieved by the above-mentioned embodiments of the constant tension control method of a hydraulic mooring device for ship mooring.

[0125] The embodiment of the present invention further provides an electronic device, the electronic device comprising: a memory, a processor, a program stored in the memory and executable on the processor, and a data bus for realizing connection and communication between the processor and the memory, and when the program is executed by the processor, the above-mentioned constant tension control method of the hydraulic mooring device for ship mooring is realized. The electronic device can be any intelligent terminal including a tablet computer, a vehicle-mounted computer, etc.

[0126] like Figure 6 FIG. 1 is a schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present invention, referring to FIG. Figure 6 , an embodiment of the present invention provides an electronic device, including:

[0127] The processor 1001 may be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of the present invention.

[0128] The memory 1002 can be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device or a random access memory (RAM). The memory 1002 can store an operating system and other application programs. When the technical solution provided in the embodiments of this specification is implemented by software or firmware, the relevant program code is stored in the memory 1002, and the processor 1001 calls and executes the constant tension control method of the hydraulic mooring device for ship mooring according to the embodiment of the present invention;

[0129] Input / output interface 1003, used to implement information input and output;

[0130] The communication interface 1004 is used to realize the communication interaction between the device and other devices. The communication can be realized through a wired manner (such as USB, network cable, etc.) or a wireless manner (such as mobile network, WIFI, Bluetooth, etc.);

[0131] A bus 1005 , which transmits information between various components of the device (e.g., the processor 1001 , the memory 1002 , the input / output interface 1003 , and the communication interface 1004 );

[0132] The processor 1001 , the memory 1002 , the input / output interface 1003 and the communication interface 1004 are connected to each other in communication within the device via the bus 1005 .

[0133] An embodiment of the present invention also provides a storage medium, which is a computer-readable storage medium used for computer-readable storage. The storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the above-mentioned constant tension control method of the hydraulic mooring device for ship mooring.

[0134] The memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a memory remotely disposed relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0135] The embodiment of the present invention also discloses a computer program product or a computer program, wherein the computer program product or the computer program includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. A processor of a computer device can read the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes Figure 1 The method shown.

[0136] In some selectable embodiments, the function / operation mentioned in the block diagram may not occur in the order mentioned in the operation diagram. For example, depending on the function / operation involved, the two boxes shown in succession can actually be executed substantially simultaneously or the above-mentioned boxes can sometimes be executed in reverse order. In addition, the embodiment presented and described in the flow chart of the present invention is provided by way of example, for the purpose of providing a more comprehensive understanding of technology. The disclosed method is not limited to the operation and logic flow presented herein. Selectable embodiments are expected, wherein the order of various operations is changed and the sub-operation of a part for which is described as a larger operation is performed independently.

[0137] In addition, although the present invention is described in the context of functional modules, it should be understood that, unless otherwise specified to the contrary, one or more of the above-mentioned functions and / or features can be integrated into a single physical device and / or software module, or one or more functions and / or features can be implemented in a separate physical device or software module. It is also understood that a detailed discussion of the actual implementation of each module is unnecessary for understanding the present invention. More specifically, in view of the properties, functions and internal relationships of the various functional modules in the device disclosed herein, the actual implementation of the module will be understood within the conventional skills of the engineer. Therefore, those skilled in the art can implement the present invention set forth in the claims without excessive experimentation using ordinary techniques. It is also understood that the specific concepts disclosed are merely illustrative and are not intended to limit the scope of the present invention, which is determined by the full scope of the appended claims and their equivalents.

[0138] If the above functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the above methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0139] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in conjunction with such instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in conjunction with such instruction execution systems, devices or apparatuses.

[0140] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0141] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

[0142] The above is a specific description of the preferred implementation of the present invention, but the present invention is not limited to the embodiments. Those skilled in the art may make various equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of this application.

Claims

1. A method for controlling constant tension of a hydraulic mooring device for ship mooring, characterized in that: Applied to a hydraulic mooring device, the hydraulic mooring device includes a control valve, comprising the following steps: Acquiring historical external disturbance force data of the hydraulic mooring device and the ship's mooring rope; A disturbance force prediction model is obtained by training the historical external disturbance force data, and the external disturbance force after adjusting the control valve delay for a preset time is obtained according to the disturbance force prediction model; The external disturbance force is input into a preset fuzzy PID controller to obtain a control valve opening, and constant tension control is performed on the hydraulic mooring device according to the control valve opening.

2. A method for controlling constant tension of a hydraulic mooring device for ship mooring according to claim 1, characterized in that: The training of the interference force prediction model according to the historical external interference force data specifically includes: Normalizing the historical external disturbance force data, and then dividing the normalized historical external disturbance force data into a training set and a verification set; Construct an LSTM neural network model, and set the learning rate, maximum number of iterations, convergence conditions, and number of hidden layers of the LSTM neural network model; Inputting the training set and the verification set into the LSTM neural network model, and training the LSTM neural network model through a preset loss function to obtain the interference force prediction model; The LSTM neural network model includes a forget gate, a memory gate and an output gate.

3. A method for controlling constant tension of a hydraulic mooring device for ship mooring according to claim 1, characterized in that: The step of obtaining the external disturbance force after adjusting the control valve delay for a preset time according to the disturbance force prediction model specifically includes: Acquire a plurality of first external disturbance forces before adjusting the control valve delay time before the preset time in different time sequences; The first external disturbance force is input into the disturbance force prediction model to obtain the external disturbance force after adjusting the control valve delay for a preset time.

4. A method for controlling constant tension of a hydraulic mooring device for ship mooring according to claim 1, characterized in that: The step of inputting the external disturbance force into a preset fuzzy PID controller to obtain the control valve opening specifically includes: Constructing the fuzzy PID controller; The external disturbance force is input into the fuzzy PID controller, and the control parameters in the fuzzy PID controller are adjusted by a simulated annealing optimization algorithm to obtain the control valve opening; The control parameters include control proportion, control integral and control differential coefficient.

5. A method for controlling constant tension of a hydraulic mooring device for ship mooring according to claim 4, characterized in that: The control parameters in the fuzzy PID controller are adjusted by a simulated annealing optimization algorithm to obtain the control valve opening, specifically including: Set the objective function; The control parameter is adjusted according to the objective function by the simulated annealing optimization algorithm to obtain the control valve opening.

6. A method for controlling constant tension of a hydraulic mooring device for ship mooring according to claim 5, characterized in that: The adjusting the control parameter according to the objective function by the simulated annealing optimization algorithm to obtain the control valve opening specifically includes: Setting an initial temperature, a temperature threshold, an iteration threshold, and a cooling rate, and setting a search space for the control ratio, the control integral, and the control differential coefficient; Randomly generating initial values ​​of the control ratio, the control integral and the control differential coefficient in the search space; Lowering the initial temperature according to the cooling rate to obtain a current temperature; Setting a random coefficient, and updating each of the initial values ​​according to the random coefficient so that the objective function obtains a maximum value; When the current temperature is lower than the temperature threshold, or the number of updates is higher than the iteration number threshold, the updating is stopped to obtain the control valve opening.

7. A method for controlling constant tension of a hydraulic mooring device for ship mooring according to claim 4, characterized in that: The fuzzy PID controller is: Among them, O pT,t represents the control valve opening, O pT,0 Indicates the initial opening of the control valve. represents the external disturbance force, K P,z represents the control ratio, T i,z represents the control integral, T d,z represents the control differential coefficient.

8. A constant tension control system for a hydraulic mooring device for ship mooring, characterized in that: include: A historical data acquisition module, used to acquire historical external disturbance force data of the hydraulic mooring device and the ship mooring rope; An interference force prediction module, used for obtaining an interference force prediction model according to the historical external interference force data training, and obtaining the external interference force after adjusting the control valve delay for a preset time according to the interference force prediction model; The control valve opening calculation module is used to input the external disturbance force into a preset fuzzy PID controller to obtain the control valve opening, and perform constant tension control on the hydraulic mooring device according to the control valve opening.

9. An electronic device, characterized in that: The electronic device includes a memory, a processor, a program stored in the memory and executable on the processor, and a data bus for realizing connection and communication between the processor and the memory. When the program is executed by the processor, the steps of the constant tension control method of a hydraulic mooring device for ship mooring are realized as described in any one of claims 1 to 7.

10. A storage medium, the storage medium being a computer-readable storage medium, used for computer-readable storage, characterized in that: The storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps of the constant tension control method of a hydraulic mooring device for ship mooring as described in any one of claims 1 to 7.

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