Initial pretightening force control method and system for ship hydraulic mooring device

Abstract

The invention discloses an initial pretightening force control method and system for a ship hydraulic mooring device, and the method comprises the steps: calculating the external disturbance force data of a ship mooring rope, and determining an external disturbance force peak value according to the external disturbance force data; the tension adjusting range of the hydraulic mooring device is calculated, and target pre-tightening force is obtained through calculation according to the tension adjusting range and the external disturbance force peak value through a beetle antennae algorithm; according to the device parameters of the hydraulic mooring device and the target pre-tightening force, the initial opening degree of the control valve is obtained through calculation; and initial pretightening force control is conducted on the hydraulic mooring device according to the initial opening degree of the control valve. The initial pre-tightening force can be adjusted and controlled according to the initial opening degree of the control valve, the safety and reliability of ship mooring are improved, the economic loss caused by breakage of a mooring rope or collision between a ship and a wharf during mooring is reduced, and the method 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 an initial preload control method and system for a ship hydraulic mooring device. Background Art

[0002] When a ship is moored, it is usually fixed to a mooring pile by a mooring rope to restrict the movement of the ship. This method is very common in actual operations, but since ships are often affected by external factors such as wind, waves, and tides during the mooring process, and may even be disturbed by other ships berthing or leaving the port, the stress distribution on the mooring rope is uneven, which may lead to mooring accidents such as cable breakage or ship displacement. These accidents will not only cause equipment or property losses, but may even endanger personal safety in serious cases. With the continuous development of modern water transportation, the size and carrying capacity of ships have increased significantly, and the risk and frequency of mooring accidents are also increasing.

[0003] It is an effective method to use a hydraulic mooring device with an adjustable control valve opening to maintain the constant mooring tension of the cable under external disturbance. The calculation of the initial preload of the hydraulic mooring device is the basis for the research on the control of the hydraulic mooring device. On the one hand, a large initial preload should be maintained to improve the stability of the ship mooring and reduce the movement of the ship under external disturbance. On the other hand, the initial preload should be ensured not to exceed a certain range to prevent damage to the mooring device or cable breakage caused by overshoot of the hydraulic mooring device under external disturbance. However, there is little research on the initial preload of the hydraulic mooring device in the prior art. Summary of the invention

[0004] In order to solve the above technical problems, the object of the present invention is to provide an initial preload control method and system for a ship hydraulic mooring device, so as to improve the safety and reliability of ship mooring.

[0005] To achieve the above object, one aspect of an embodiment of the present application provides an initial preload control method for a ship hydraulic mooring device, which is applied to a hydraulic mooring device, wherein the hydraulic mooring device includes a control valve, and includes the following steps:

[0006] Calculating external disturbance force data of a ship's mooring rope, and determining a peak value of the external disturbance force according to the external disturbance force data;

[0007] Calculating the tension adjustment range of the hydraulic mooring device, and calculating the target preload force according to the tension adjustment range and the peak value of the external interference force by using a beetle whisker algorithm;

[0008] Calculating an initial opening of the control valve of the control valve according to the device parameters of the hydraulic mooring device and the target preload force;

[0009] The initial preload force of the hydraulic mooring device is controlled according to the initial opening of the control valve.

[0010] In some embodiments, the calculating of the external disturbance force data of the ship's mooring rope and the determining of the external disturbance force peak value according to the external disturbance force data specifically include:

[0011] Obtaining an initial preload and a current preload of the hydraulic mooring device;

[0012] Subtracting the current preload force from the initial preload force to obtain the external interference force data;

[0013] The maximum value and the minimum value in the external disturbance force data are determined to obtain the external disturbance force peak value.

[0014] In some embodiments, the hydraulic mooring device includes a plunger rod, and calculating the tension adjustment range of the hydraulic mooring device specifically includes:

[0015] Obtaining a first output pressure value, a second output pressure value, and a working area of ​​the plunger rod;

[0016] Calculating the tension adjustment range according to the first output pressure value, the second output pressure value and the working area;

[0017] The tension adjustment range is calculated by the following formula:

[0018] d=[p1A,p0A]

[0019] Wherein, d represents the tension adjustment range, p1 represents the first output pressure value, p0 represents the second output pressure value, and A represents the working area.

[0020] In some embodiments, the target preload force is calculated according to the tension adjustment range and the external interference force peak value by using the beetle whisker algorithm, specifically including:

[0021] Setting an objective function according to the tension adjustment range and the external interference force peak value;

[0022] The target preload force is calculated based on the objective function using the beetle whisker algorithm.

[0023] In some embodiments, the external disturbance force peak includes a first external disturbance force and a second external disturbance force, and the objective function is:

[0024] f(X j )=min[(p0A-X j -E d,max ),(X j -p1A+Ed,min )]

[0025] Among them, X j represents the output tension of the hydraulic mooring device, E d,max represents the first external disturbance force, E d,min represents the second external disturbance force, p1 represents the first output pressure value, p0 represents the second output pressure value, and A represents the working area.

[0026] In some embodiments, the target preload force is calculated according to the objective function by using the beetle whisker algorithm, specifically including:

[0027] According to the tension adjustment range, setting the initial solution space of the beetle whisker algorithm;

[0028] Calculating the center point of the solution space according to the initial solution space, and determining the random generation direction and the search space;

[0029] Calculating a first antenna position and a second antenna position according to the solution space center point, the randomly generated direction, and the search space;

[0030] According to the search space, the first antenna position and the second antenna position, the center point of the solution space is updated so that the objective function obtains a maximum value;

[0031] An iteration termination condition is determined, and updating is stopped according to the iteration termination condition to obtain the target preload force.

[0032] In some embodiments, the initial opening of the control valve is calculated by the following formula:

[0033]

[0034] Among them, O pT,t＝0 represents the initial opening of the control valve at time t, A VT,t＝0 represents the target control valve flow area at the initial time, A V,max Indicates the maximum flow area of ​​the control valve, F T,0 represents the target preload force, R s represents the control valve radius of the control valve, φ represents the valve core semi-cone angle of the control valve, p1 represents the first output pressure value, p0 represents the second output pressure value, C g Select the factor for weight.

[0035] To achieve the above-mentioned purpose, another aspect of the embodiment of the present application provides an initial preload control system for a ship hydraulic mooring device, comprising:

[0036] An external disturbance force peak value determination module is used to calculate the external disturbance force data of the ship's mooring rope, and determine the external disturbance force peak value according to the external disturbance force data;

[0037] A target preload calculation module is used to calculate the tension adjustment range of the hydraulic mooring device, and calculate the target preload according to the tension adjustment range and the external interference force peak value by using a beetle whisker algorithm;

[0038] a control valve initial opening calculation module, used for calculating the initial opening of the control valve of the hydraulic mooring device according to the device parameters of the hydraulic mooring device and the target preload force;

[0039] The initial preload control module is used to control the initial preload of the hydraulic mooring device according to the initial opening of the control valve.

[0040] 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 initial preload force control method of the ship hydraulic mooring device as described above is realized.

[0041] 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 initial preload control method of the ship hydraulic mooring device as described above.

[0042] The beneficial effects of the present invention are as follows: the initial preload control method and system of the ship hydraulic mooring device of the present invention first calculates the external disturbance force data of the ship mooring cable, determines the external disturbance force peak value according to the external disturbance force data, and then calculates the tension adjustment range of the hydraulic mooring device, and calculates the target preload according to the tension adjustment range and the external disturbance force peak value through the beetle whisker algorithm, and then calculates the initial opening of the control valve of the hydraulic mooring device according to the device parameters of the hydraulic mooring device and the target preload, and finally performs initial preload control on the hydraulic mooring device according to the initial opening of the control valve. The present invention takes the maximum safety margin of the hydraulic mooring device as the goal, calculates the target preload through the beetle whisker algorithm, and then calculates the initial opening of the control valve according to the target preload and the calculated tension adjustment range, and can realize initial preload adjustment and control according to the initial opening of the control valve, thereby improving the safety and reliability of ship mooring, and reducing the occurrence of economic losses caused by the breakage of the mooring cable or the collision of the ship with the dock during mooring. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] 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.

[0044] Figure 1 A flowchart of the steps of a method for controlling the initial preload force of a ship hydraulic mooring device provided by an embodiment of the present invention;

[0045] Figure 2 A diagram of changes in external interference forces provided by an embodiment of the present invention;

[0046] Figure 3 A schematic structural diagram of an initial preload control system for a ship hydraulic mooring device provided by an embodiment of the present invention;

[0047] Figure 4 A schematic diagram of the hardware structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0048] 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.

[0049] 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".

[0050] 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.

[0051] When a ship is moored, it is usually fixed to a mooring pile by a mooring rope to restrict the movement of the ship. This method is very common in actual operations, but since ships are often affected by external factors such as wind, waves, and tides during the mooring process, and may even be disturbed by other ships berthing or leaving the port, the stress distribution on the mooring rope is uneven, which may lead to mooring accidents such as cable breakage or ship displacement. These accidents will not only cause equipment or property losses, but may even endanger personal safety in serious cases. With the continuous development of modern water transportation, the size and carrying capacity of ships have increased significantly, and the risk and frequency of mooring accidents are also increasing.

[0052] In this context, it is particularly important to study a control system that can maintain constant tension in the cable. By keeping the cable tension constant, the friction between the ship and the dock fender can be effectively increased, thereby more stably restricting the movement of the ship. In addition, the constant tension control system can also reduce the risks brought about by sudden changes in the tension of the mooring rope and reduce the possibility of cable breakage or accidental displacement. In general, the development of an efficient constant tension control system can not only improve the safety of ship mooring, but also enhance the reliability and stability of the entire mooring system, and significantly reduce the economic losses and safety hazards caused by mooring accidents. Therefore, the research and application of constant tension control systems for ship mooring has important practical significance and broad application prospects.

[0053] It is an effective method to use a hydraulic mooring device with an adjustable control valve opening to maintain the constant mooring tension of the cable under external disturbance. The calculation of the initial preload of the hydraulic mooring device is the basis for the research on the control of the hydraulic mooring device. On the one hand, a large initial preload should be maintained to improve the stability of the ship mooring and reduce the movement of the ship under external disturbance. On the other hand, the initial preload should be ensured not to exceed a certain range to prevent the damage of the mooring device or the cable breaking accident caused by the overshoot of the hydraulic mooring device under external disturbance.

[0054] To this end, an embodiment of the present invention proposes an initial preload control method for a ship hydraulic mooring device, firstly calculating the external disturbance force data of the ship mooring cable, determining the external disturbance force peak value according to the external disturbance force data, and then calculating the tension adjustment range of the hydraulic mooring device, and calculating the target preload according to the tension adjustment range and the external disturbance force peak value through the beetle whisker algorithm, and then calculating the initial opening of the control valve of the hydraulic mooring device according to the device parameters of the hydraulic mooring device and the target preload, and finally performing initial preload control on the hydraulic mooring device according to the initial opening of the control valve. The present invention takes the maximum safety margin of the hydraulic mooring device as the goal, calculates the target preload through the beetle whisker algorithm, and then calculates the initial opening of the control valve according to the target preload and the calculated tension adjustment range, and can realize initial preload adjustment and control according to the initial opening of the control valve, thereby improving the safety and reliability of ship mooring, and reducing the occurrence of economic losses caused by the breakage of the mooring cable or the collision of the ship with the dock during mooring.

[0055] Reference Figure 1 , Figure 1 The present invention provides a flowchart of the steps of a method for controlling the initial preload force of a ship hydraulic mooring device according to an embodiment of the present invention. The present invention provides a method for controlling the initial preload force of a ship hydraulic mooring device, which is applied to the hydraulic mooring device. The hydraulic mooring device includes a control valve. The method includes steps S101 to S103:

[0056] S101, calculating external interference force data of a ship's mooring rope, and determining a peak value of the external interference force according to the external interference force data;

[0057] As an optional implementation, the step of calculating the external disturbance force data of the ship's mooring rope and determining the external disturbance force peak value according to the external disturbance force data can be specifically divided into the following steps S1011 to S1013:

[0058] S1011. Obtaining an initial preload and a current preload of the hydraulic mooring device;

[0059] S1012, performing a subtraction operation on the current preload force and the initial preload force to obtain external interference force data;

[0060] S1013. Determine the maximum value and the minimum value in the external disturbance force data to obtain the peak value of the external disturbance force.

[0061] In some optional embodiments, the hydraulic mooring device comprises a control valve and a plunger cylinder. The acquired external disturbance force data comprises the time and magnitude of the external disturbance force, and the external disturbance force peak comprises the maximum value and the minimum value of the external disturbance force data. The magnitude of the external disturbance force is calculated by the following formula:

[0062] E d,t =FC,t -F I

[0063] Among them, F I Indicates the initial preload force of the hydraulic mooring device, F C,t Indicates the actual preload at the moment, E d,t Represents the external disturbance force at time t.

[0064] For example, introducing Figure 2 Assuming that the initial preload is 618561.12N and the measured mooring tension at the 0th second is 558561.12N, we have E d,t =618561.12-588561.12=30000, in N. The maximum value and the minimum value of the external disturbance force data (ie, the peak value of the external disturbance force) are set to 155975.66N and -95822.74N respectively.

[0065] S102, calculating the tension adjustment range of the hydraulic mooring device, and calculating the target preload force according to the tension adjustment range and the peak value of the external interference force by using the beetle whisker algorithm;

[0066] As an optional implementation, the hydraulic mooring device includes a plunger rod, and the step of calculating the tension adjustment range of the hydraulic mooring device can be specifically divided into the following steps S1021 to S1023:

[0067] S1021, obtaining a first output pressure value, a second output pressure value, and a working area of ​​the plunger rod;

[0068] S1022, calculating a tension adjustment range according to the first output pressure value, the second output pressure value and the working area;

[0069] S1023, the tension adjustment range is calculated by the following formula:

[0070] d=[p1A,p0A]

[0071] Wherein, d represents the tension adjustment range, p1 represents the first output pressure value, p0 represents the second output pressure value, and A represents the working area.

[0072] Specifically, the first output pressure value is the minimum value of the output pressure of the plunger cylinder, and the second output pressure value is the maximum value of the output pressure of the plunger cylinder.

[0073] Exemplarily, the device parameters of the hydraulic mooring device are set as shown in Table 1 below:

[0074] Table 1

[0075]

[0076]

[0077] The tension adjustment range can be calculated as follows:

[0078] d=[8250000×0.049,17000000×0.049]=[404250,833000]

[0079] As an optional implementation, the step of calculating the target preload force by using the beetle whisker algorithm according to the tension adjustment range and the external interference force peak value can be specifically divided into the following steps S1024 and S1025:

[0080] S1024, setting an objective function according to the tension adjustment range and the external interference force peak value;

[0081] S1025. Calculate the target preload force according to the objective function using the beetle whisker algorithm.

[0082] In some optional embodiments, the tension adjustment range is calculated according to the parameters of the hydraulic mooring device, including the minimum and maximum values ​​of the tension adjustment, and then the objective function is set according to the tension adjustment range of the hydraulic mooring device and the peak value of the external interference force, and then the initial preload force is continuously iterated by the beetle whisker algorithm until the termination condition is reached, and the target preload force of the hydraulic mooring device is calculated.

[0083] Among them, the Beetle Antennae Search Algorithm (BAS) is a biologically inspired intelligent optimization algorithm, and its solution process imitates the foraging behavior of longhorn beetles in nature. The Beetle Antennae Search Algorithm can simulate the foraging behavior of longhorn beetles, continuously optimize the position of the solution during the iteration process, and finally find the global optimal solution or the approximate optimal solution.

[0084] As a further optional implementation, the external disturbance force peak value includes a first external disturbance force and a second external disturbance force, and the objective function is:

[0085] f(X j )=min[(p0A-X j -E d,max ),(X j -p1A+E d,min )]

[0086] Among them, X j Indicates the output tension of the hydraulic mooring device, E d,max represents the first external disturbance force, E d,min represents the second external disturbance force, p1 represents the first output pressure value, p0 represents the second output pressure value, and A represents the working area.

[0087] Specifically, f(X j ) is the objective function of the Tianniuxu algorithm. The optimization goal of the Tianniuxu algorithm is to make the objective function f(X j ) to obtain the maximum value. Exemplarily, according to the device parameters of the hydraulic mooring device and the peak value of the external disturbance force set above, the objective function is obtained as follows:

[0088] f(X j )=min[(833000-X j -155975.66),(X j -404250-95822.74)]

[0089] As an optional implementation, the step of calculating the target preload force according to the objective function by using the beetle whisker algorithm can be specifically divided into the following steps S10251 and S10255:

[0090] S10251. According to the tension adjustment range, an initial solution space of the beetle whisker algorithm is set;

[0091] S10252. Calculate the center point of the solution space according to the initial solution space, and determine the random generation direction and search space;

[0092] Specifically, firstly, according to the tension adjustment range of the hydraulic mooring device, the initial solution space (d j＝1 ).

[0093] Among them, d j Represents the solution space of the jth iteration. Then, the center point of the solution space is calculated by the following formula:

[0094]

[0095] Among them, X j represents the center point of the solution space at the jth iteration, d j,max and d j,min They represent the maximum and minimum values ​​of the solution space at the jth iteration respectively.

[0096] Next, the iterative method for determining the unit random vector (i.e., the random generation direction) is as follows:

[0097]

[0098] in, represents the unit random vector of the j-th iteration, rnd(·) represents the random vector, and s represents the spatial dimension.

[0099] The search space is updated according to the following formula:

[0100] dj =d e d j-1

[0101] Among them, d e Represents the attenuation coefficient.

[0102] S10253, calculating a first antenna position and a second antenna position according to the solution space center point, the randomly generated direction and the search space;

[0103] Specifically, the calculation method of the left and right antenna coordinates (i.e., the first antenna position and the second antenna position) of the longicorn beetle in the jth iteration is as follows:

[0104]

[0105] in, and represents the left and right antenna coordinates of the beetle's palinurus at the jth iteration (i.e., the first antenna position and the second antenna position).

[0106] S10254, updating the center point of the solution space according to the search space, the first antenna position and the second antenna position, so that the objective function obtains a maximum value;

[0107] S10255. Determine an iteration termination condition, stop updating according to the iteration termination condition, and obtain a target preload force.

[0108] Specifically, the center point of the solution space of the jth iteration, that is, the optimal solution (target preload), is updated by the following formula:

[0109]

[0110] Among them, sign(·) represents the sign function, f(X j ) represents the objective function value, δ j Indicates the moving step size of the jth iteration. j The calculation method is as follows:

[0111] δ j =δ e δ j-1

[0112] Among them, δ e Denotes δ j The attenuation factor.

[0113] In some optional embodiments, the iteration termination condition can be set as the number of iterations j is greater than or equal to 50 (j ≥ 50) or the maximum value d of the solution space at the jth iteration. j,max minus minimum value d j,min Less than or equal to 10(d j,max -dj,min ≤10), but not limited to this. When the set termination condition is reached, the updating of the center point of the solution space is stopped to obtain the target preload force.

[0114] S103, calculating the initial opening of the control valve according to the device parameters and the target preload force of the hydraulic mooring device;

[0115] As an optional implementation, the initial opening of the control valve is calculated by the following formula:

[0116]

[0117] Among them, O pT,t＝0 represents the initial opening of the control valve at time t, A VT,t＝0 represents the target control valve flow area at the initial time, A V,max Indicates the maximum flow area of ​​the control valve, F T,0 Indicates the target preload, R s represents the control valve radius of the control valve, φ represents the valve core semi-cone angle of the control valve, p1 represents the first output pressure value, p0 represents the second output pressure value, C g Select the factor for weight.

[0118] For example, according to the parameter values ​​set and calculated above, the initial opening of the control valve can be calculated as follows:

[0119]

[0120] S104, performing initial preload control on the hydraulic mooring device according to the initial opening of the control valve.

[0121] Specifically, the initial preload force of the hydraulic mooring device is adjusted and controlled according to the calculated initial opening of the control valve.

[0122] The above is an explanation of the initial preload control method of the ship hydraulic mooring device according to the embodiment of the present invention. It can be recognized that the embodiment of the present invention designs the objective function by taking the maximum safety margin of the hydraulic mooring device as the target according to the tension adjustment range of the hydraulic mooring device and the peak value of the external interference force, and optimizes the initial preload of the hydraulic mooring device through multiple iterations of the beetle beard algorithm to obtain the target preload. Finally, according to the calculated target preload and the device parameters of the hydraulic mooring device, the initial opening of the control valve of the hydraulic mooring device is calculated, so as to realize the adjustment and control of the initial preload, which can effectively improve the safety and reliability of ship mooring, 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.

[0123] Reference Figure 3The embodiment of the present invention further provides an initial preload control system for a ship hydraulic mooring device, comprising:

[0124] An external interference force peak value determination module is used to calculate the external interference force data of the ship's mooring rope and determine the external interference force peak value according to the external interference force data;

[0125] The target preload calculation module is used to calculate the tension adjustment range of the hydraulic mooring device, and obtain the target preload by calculating the tension adjustment range and the peak value of the external interference force through the beetle whisker algorithm;

[0126] A control valve initial opening calculation module, used for calculating the initial opening of the control valve of the hydraulic mooring device according to the device parameters and target preload of the hydraulic mooring device;

[0127] The initial preload control module is used to control the initial preload of the hydraulic mooring device according to the initial opening of the control valve.

[0128] The contents of the above-mentioned embodiments of the initial preload control method for a ship hydraulic mooring device are all applicable to the embodiments of the initial preload control system for the present ship hydraulic mooring device. The functions specifically implemented by the embodiments of the initial preload control system for the present ship hydraulic mooring device are the same as those in the above-mentioned embodiments of the initial preload control method for the ship hydraulic mooring device, and the beneficial effects achieved are also the same as those achieved by the above-mentioned embodiments of the initial preload control method for the ship hydraulic mooring device.

[0129] 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, wherein when the program is executed by the processor, the initial preload control method of the ship hydraulic mooring device is realized. The electronic device may be any intelligent terminal including a tablet computer, a vehicle-mounted computer, etc.

[0130] like Figure 4 FIG. 1 is a schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present invention. Figure 4 , an embodiment of the present invention provides an electronic device, including:

[0131] 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.

[0132] 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 embodiment 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 initial preload control method of the ship hydraulic mooring device of the embodiment of the present invention;

[0133] Input / output interface 1003, used to implement information input and output;

[0134] 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.);

[0135] 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 );

[0136] 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 .

[0137] An embodiment of the present invention further 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 initial preload control method of the above-mentioned ship hydraulic mooring device.

[0138] 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.

[0139] 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.

[0140] In some optional 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. The optional embodiment is expected, wherein the order of various operations is changed and the sub-operation described as a part of a larger operation is performed independently.

[0141] 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.

[0142] 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.

[0143] 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.

[0144] 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.

[0145] 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.

[0146] 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 the initial preload force of a ship hydraulic mooring device, characterized in that: Applied to a hydraulic mooring device, the hydraulic mooring device includes a control valve, comprising the following steps: Calculating external disturbance force data of a ship's mooring rope, and determining a peak value of the external disturbance force according to the external disturbance force data; Calculating the tension adjustment range of the hydraulic mooring device, and calculating the target preload force according to the tension adjustment range and the peak value of the external interference force by using a beetle whisker algorithm; Calculating an initial opening of the control valve of the control valve according to the device parameters of the hydraulic mooring device and the target preload force; The initial preload force of the hydraulic mooring device is controlled according to the initial opening of the control valve.

2. The method for controlling the initial preload force of a ship hydraulic mooring device according to claim 1, characterized in that: The calculating of the external disturbance force data of the ship mooring rope and determining the external disturbance force peak value according to the external disturbance force data specifically includes: Obtaining an initial preload and a current preload of the hydraulic mooring device; Subtracting the current preload force from the initial preload force to obtain the external interference force data; The maximum value and the minimum value in the external disturbance force data are determined to obtain the external disturbance force peak value.

3. The method for controlling the initial preload force of a ship hydraulic mooring device according to claim 1, characterized in that: The hydraulic mooring device includes a plunger rod, and the step of calculating the tension adjustment range of the hydraulic mooring device specifically includes: Obtaining a first output pressure value, a second output pressure value, and a working area of ​​the plunger rod; Calculating the tension adjustment range according to the first output pressure value, the second output pressure value and the working area; The tension adjustment range is calculated by the following formula: d=[p1A,p0A] Wherein, d represents the tension adjustment range, p1 represents the first output pressure value, p0 represents the second output pressure value, and A represents the working area.

4. The method for controlling the initial preload force of a ship hydraulic mooring device according to claim 1, characterized in that: The method of calculating the target preload force according to the tension adjustment range and the external interference force peak value by using the beetle whisker algorithm specifically includes: Setting an objective function according to the tension adjustment range and the external interference force peak value; The target preload force is calculated based on the objective function using the beetle whisker algorithm.

5. The method for controlling the initial preload force of a ship hydraulic mooring device according to claim 4, characterized in that: The external disturbance force peak value includes a first external disturbance force and a second external disturbance force, and the objective function is: f(X j )=min[(p0A-X j -E d,max ),(X j -p1A+E d,min )] Among them, X j represents the output tension of the hydraulic mooring device, E d,max represents the first external disturbance force, E d,min represents the second external disturbance force, p1 represents the first output pressure value, p0 represents the second output pressure value, and A represents the working area.

6. The method for controlling the initial preload force of a ship hydraulic mooring device according to claim 4, characterized in that: The calculating the target preload force according to the objective function by using the beetle whisker algorithm specifically includes: According to the tension adjustment range, setting the initial solution space of the beetle whisker algorithm; Calculating the center point of the solution space according to the initial solution space, and determining the random generation direction and the search space; Calculating a first antenna position and a second antenna position according to the solution space center point, the randomly generated direction, and the search space; According to the search space, the first antenna position and the second antenna position, the center point of the solution space is updated so that the objective function obtains a maximum value; An iteration termination condition is determined, and updating is stopped according to the iteration termination condition to obtain the target preload force.

7. The method for controlling the initial preload force of a ship hydraulic mooring device according to claim 1, characterized in that: The initial opening of the control valve is calculated by the following formula: Among them, O pT,t＝0 represents the initial opening of the control valve at time t, A VT,t＝0 represents the target control valve flow area at the initial time, A V,max Indicates the maximum flow area of ​​the control valve, F T,0 represents the target preload force, R s represents the control valve radius of the control valve, φ represents the valve core semi-cone angle of the control valve, p1 represents the first output pressure value, p0 represents the second output pressure value, C g Select the factor for weight.

8. An initial preload control system for a ship hydraulic mooring device, characterized in that: include: An external disturbance force peak value determination module is used to calculate the external disturbance force data of the ship's mooring rope, and determine the external disturbance force peak value according to the external disturbance force data; A target preload calculation module is used to calculate the tension adjustment range of the hydraulic mooring device, and calculate the target preload according to the tension adjustment range and the external interference force peak value by using a beetle whisker algorithm; a control valve initial opening calculation module, used for calculating the initial opening of the control valve of the hydraulic mooring device according to the device parameters of the hydraulic mooring device and the target preload force; The initial preload control module is used to control the initial preload of the hydraulic mooring device according to the initial opening of the control valve.

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 initial preload force control method of a ship hydraulic mooring device as described in any one of claims 1 to 7 are realized.

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 initial preload force control method of a ship hydraulic mooring device according to any one of claims 1 to 7.

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