Initial preload control method and system for ship hydraulic mooring device

Abstract

The present invention discloses a method and system for controlling the initial preload force of a ship's hydraulic mooring device. The method comprises: calculating external interference force data of a ship's mooring line and determining a peak value of the external interference force based on the external interference force data; calculating a tension adjustment range of the hydraulic mooring device and calculating a target preload force based on the tension adjustment range and the peak value of the external interference force using a longhorn beard algorithm; calculating an initial opening of a control valve of the control valve based on device parameters of the hydraulic mooring device and the target preload force; and controlling the initial preload force of the hydraulic mooring device based on the initial opening of the control valve. The present invention can adjust and control the initial preload force based on 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 mooring line breakage or collision between a ship and a dock during mooring. The method can be widely applied in the field of ship safety technology.

Description

Technical Field

[0001] The present application relates to the field of ship safety technology, and in particular to a method and system for controlling the initial preload force of a ship hydraulic mooring device. Background Art

[0002] When moored, ships are typically secured to bollards with mooring lines to restrict their movement. This method is widely used in practice, but since ships are often affected by external factors such as wind, waves, and currents during the mooring process, and may even be disturbed by other ships berthing or leaving the port, this can lead to uneven stress distribution on the mooring lines, potentially causing mooring accidents such as cable breakage or ship displacement. These accidents can not only cause equipment or property damage, but in serious cases, can even endanger personal safety. With the continuous development of modern water transportation, the size and load capacity of ships have increased significantly, and the risk and frequency of mooring accidents are also increasing.

[0003] Using a hydraulic mooring device with an adjustable control valve opening to maintain constant cable mooring tension under external disturbances is an effective method. Calculating the initial preload of a hydraulic mooring device is fundamental to research on its control. On the one hand, a high initial preload should be maintained to enhance the stability of the ship's mooring and reduce its movement under external disturbances. On the other hand, the initial preload should be kept within a certain range to prevent damage to the mooring device or cable breakage caused by overshoot of the hydraulic mooring device under external disturbances. However, limited research has been conducted on the initial preload of hydraulic mooring devices in the prior art. Summary of the Invention

[0004] In order to solve the above technical problems, the purpose 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 objectives, one aspect of an embodiment of the present application provides a method for controlling the initial preload force of a hydraulic mooring device for a ship, which is applied to the hydraulic mooring device, wherein the hydraulic mooring device includes a control valve, and comprises the following steps:

[0006] 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;

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

[0008] calculating an initial opening 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, calculating the external interference force data of the ship's mooring rope and determining the external interference force peak value according to the external interference force data specifically includes:

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

[0012] performing a subtraction operation on the current preload force and the initial preload force to obtain the external interference force data;

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

[0014] In some embodiments, the hydraulic mooring device includes a plunger lever, 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 based on the tension adjustment range and the peak value of the external interference force using the beetle whisker algorithm, specifically including:

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

[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 It 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, calculating the target preload force according to the objective function using the beetle whisker algorithm specifically includes:

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

[0028] Calculating the center point of the solution space according to the initial solution space, and determining the random generation direction and 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] 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 reaches 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 Indicates the target control valve flow area at the initial moment, 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 present application provides an initial preload control system for a ship hydraulic mooring device, comprising:

[0036] an external interference force peak value determination module, configured to calculate external interference force data of a ship's mooring rope and determine the external interference force peak value based on the external interference force data;

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

[0038] a control valve initial opening calculation module, configured to calculate an 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] An 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 on 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. 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 force 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 interference force data of the ship mooring cable, determines the external interference force peak value based on the external interference force data, and then calculates the tension adjustment range of the hydraulic mooring device. The target preload is calculated based on the tension adjustment range and the external interference force peak value by using the beetle whisker algorithm. Then, the initial opening of the control valve of the hydraulic mooring device is calculated based on the device parameters of the hydraulic mooring device and the target preload. Finally, the initial preload of the hydraulic mooring device is controlled based on 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 by using the beetle whisker algorithm, and then calculates the initial opening of the control valve based on the target preload and the calculated tension adjustment range. The initial preload can be adjusted and controlled based on 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 mooring cable breakage or collision between the ship and the dock during mooring. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions 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 solutions of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any 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 showing 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 with reference to 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 merely examples of devices and methods consistent with some aspects of the embodiments of the present application as detailed in the appended claims.

[0049] It will be understood that the terms "first", "second", etc. used in this application may be used herein to describe various concepts, but unless otherwise specified, these concepts are not limited by these terms. These terms are only used to distinguish one concept from another. For example, without departing from the scope of the embodiments 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 may be interpreted as "at the time of" or "when" or "in response to determining".

[0050] The terms "at least one", "plurality", "each", "any", etc. used in this application include "at least one", "two" or more, "plurality" or "each", "any" or "any one", "each" or "any one" as used herein.

[0051] When moored, ships are typically secured to bollards with mooring lines to restrict their movement. This method is widely used in practice, but since ships are often affected by external factors such as wind, waves, and currents during the mooring process, and may even be disturbed by other ships berthing or leaving the port, this can lead to uneven stress distribution on the mooring lines, potentially causing mooring accidents such as cable breakage or ship displacement. These accidents can not only cause equipment or property damage, but in serious cases, can even endanger personal safety. With the continuous development of modern water transportation, the size and load 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 cable tension. By maintaining a constant cable tension, 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 cable tension and reduce the possibility of cable breakage or accidental displacement. Overall, 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, significantly reducing 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] Using a hydraulic mooring system with an adjustable control valve opening is an effective method for maintaining constant mooring tension under external disturbances. Calculating the initial preload of a hydraulic mooring system is fundamental to research on its control. On the one hand, maintaining a high initial preload improves mooring stability and reduces ship movement under external disturbances. On the other hand, the initial preload should be kept within a certain range to prevent overshoot under external disturbances, potentially leading to damage to the mooring system or cable breakage.

[0054] To this end, an embodiment of the present invention proposes an initial preload control method for a ship hydraulic mooring device. First, the external interference force data of the ship's mooring line is calculated, and the peak value of the external interference force is determined based on the external interference force data. Then, the tension adjustment range of the hydraulic mooring device is calculated, and a target preload is calculated based on the tension adjustment range and the peak value of the external interference force using a beetle whisker algorithm. Then, the initial opening of the control valve of the hydraulic mooring device is calculated based on the device parameters of the hydraulic mooring device and the target preload. Finally, the initial preload of the hydraulic mooring device is controlled based on the initial opening of the control valve. The present invention aims to maximize the safety margin of the hydraulic mooring device, calculates the target preload using a beetle whisker algorithm, and then calculates the initial opening of the control valve based on the target preload and the calculated tension adjustment range. The initial preload can be adjusted and controlled based on 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 mooring line breakage or collision between the ship and the dock during mooring.

[0055] Reference Figure 1 , Figure 1 This is 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. The embodiment of 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 a further optional implementation, the step of calculating the external interference force data of the ship's mooring rope and determining the external interference force peak value according to the external interference force data can be specifically divided into the following steps S1011 to S1013:

[0058] S1011. Obtaining an initial preload force and a current preload force 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 and minimum values ​​of the external interference force data to obtain a peak value of the external interference force.

[0061] In some optional embodiments, the hydraulic mooring device comprises a control valve and a plunger cylinder. The acquired external interference force data includes the time and magnitude of the external interference force, and the external interference force peak value includes the maximum and minimum values ​​of the external interference force data. The magnitude of the external interference force is calculated using 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, the introduction Figure 2 Assuming the initial preload is 618561.12N and the measured mooring tension at the 0th second is 558561.12N, the external disturbance force is E d,t =618561.12-588561.12=30000, the unit is N. And the maximum value and the minimum value of the external interference force data (ie, the peak value of the external interference 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 based on the tension adjustment range and the peak value of the external interference force using a beetle whisker algorithm;

[0066] As a further optional embodiment, the hydraulic mooring device includes a plunger lever, 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: Calculate a tension adjustment range based on 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 plunger cylinder output pressure, and the second output pressure value is the maximum value of the plunger cylinder output pressure.

[0073] For example, 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 a further optional implementation, the step of 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 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 peak value of the external interference force;

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

[0082] In some optional embodiments, the tension adjustment range, including the minimum and maximum tension adjustment values, is calculated based on the parameters of the hydraulic mooring device. Then, an objective function is set based on the tension adjustment range of the hydraulic mooring device and the peak value of the external interference force. Then, the initial preload force is continuously iterated using a beetle whisker algorithm until a termination condition is reached, thereby calculating the target preload force of the hydraulic mooring device.

[0083] The Beetle Antennae Search Algorithm (BAS) is a bio-inspired intelligent optimization algorithm whose solution process mimics the foraging behavior of longhorn beetles in nature. It simulates this behavior and continuously optimizes the solution position during an iterative process, ultimately finding the global optimal solution or a near-optimal solution.

[0084] As a further optional implementation, the external disturbance force peak 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 beetle beard algorithm. The optimization goal of the beetle beard algorithm is to make the objective function f(X j ) to obtain the maximum value. For example, based on the above-set device parameters of the hydraulic mooring device and the peak value of the external interference force, the objective function is obtained as follows:

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

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

[0090] S10251. Setting an initial solution space of the beetle whisker algorithm according to the tension adjustment range;

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

[0092] Specifically, firstly, 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 Indicates 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 j-th 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. Calculate the first antenna position and the 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's antennae at the jth iteration is as follows:

[0104]

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

[0106] S10254. Update 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 reaches a maximum value;

[0107] S10255. Determine the iteration termination condition, stop updating according to the iteration termination condition, and obtain the 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 Represents δ j 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 Subtract the 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 an initial opening of the control valve according to the device parameters and target preload force of the hydraulic mooring device;

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

[0116]

[0117] Among them, O pT,t＝0 Indicates the initial opening of the control valve at time t, A VT,t＝0 Indicates the target control valve flow area at the initial moment, 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, based on the parameter values ​​set and calculated above, the initial opening of the control valve can be calculated as follows:

[0119]

[0120] S104: Perform 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 describes the initial preload control method for a ship hydraulic mooring device according to an embodiment of the present invention. It can be appreciated that the present invention optimizes the initial preload of the hydraulic mooring device through multiple iterations of the Longicorn beard algorithm, based on the calculated target preload and the device parameters of the hydraulic mooring device, by designing an objective function with the goal of maximizing the safety margin of the hydraulic mooring device. This method achieves a target preload. Finally, based on 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, thereby achieving regulation and control of the initial preload. This method effectively improves the safety and reliability of ship mooring and reduces the risk of economic losses caused by mooring line breakage or collision between the ship and the dock during mooring.

[0123] Reference Figure 3The embodiment of the present invention further provides an initial preload force 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 based on the external interference force data;

[0125] The target preload calculation module is used to calculate the tension adjustment range of the hydraulic mooring device. The target preload is calculated based on the tension adjustment range and the peak value of the external interference force using the beetle whisker algorithm.

[0126] A control valve initial opening calculation module is used to calculate the initial opening of the control valve of the hydraulic mooring device according to the device parameters and target preload force 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 pre-tightening force control method for a ship hydraulic mooring device are all applicable to the embodiments of the initial pre-tightening force control system for this ship hydraulic mooring device. The functions specifically implemented by the embodiments of the initial pre-tightening force control system for this ship hydraulic mooring device are the same as those in the above-mentioned embodiments of the initial pre-tightening force control method for a ship hydraulic mooring device, and the beneficial effects achieved are also the same as those achieved by the above-mentioned embodiments of the initial pre-tightening force control method for a ship hydraulic mooring device.

[0129] An embodiment of the present invention further provides an electronic device comprising: a memory, a processor, a program stored in the memory and executable on the processor, and a data bus for enabling communication between the processor and the memory. When the program is executed by the processor, the aforementioned method for controlling the initial preload force of a ship hydraulic mooring device is implemented. The electronic device can be any intelligent terminal, including a tablet computer and an in-vehicle computer.

[0130] like Figure 4 FIG2 is a schematic diagram of the hardware structure of the electronic device provided by the embodiment of the present invention, referring to FIG2 Figure 4 , an embodiment of the present invention provides an electronic device, including:

[0131] The processor 1001 may be implemented as a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is configured to execute relevant programs to implement the technical solutions provided by 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 solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 1002 and is called by the processor 1001 to execute the initial preload force control method of the ship hydraulic mooring device according to the embodiment of the present invention.

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

[0134] Communication interface 1004, used to implement communication interaction between this device and other devices, which can be achieved through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, WiFi, Bluetooth, etc.);

[0135] Bus 1005 , which transmits information between various components of the device (e.g., processor 1001 , memory 1002 , input / output interface 1003 , and 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 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 initial preload force control method of the 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 arranged 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 computer program, which includes computer instructions 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 performs 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 in an exemplary manner for the purpose of providing a more comprehensive understanding of the technology. The disclosed method is not limited to the operation and logic flow presented herein. Optional embodiments are contemplated in which the order of the various operations is changed and the sub-operations described as a part of a larger operation are performed independently.

[0141] In addition, although the present invention is described in the context of functional modules, it should be understood that, unless otherwise stated, 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 separate physical devices or software modules. It is also understood that a detailed discussion of the actual implementation of each module is not necessary for understanding the present invention. More specifically, given the properties, functions, and internal relationships of the various functional modules in the devices disclosed herein, the actual implementation of the module will be understood within the routine skills of an engineer. Therefore, a person skilled in the art can implement the present invention set forth in the claims using ordinary skills without undue experimentation. 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 and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute 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 code.

[0143] The logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (e.g., a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device). For purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by, or in conjunction with, an instruction execution system, apparatus, or device.

[0144] It should be understood that various parts of the present invention can be implemented using hardware, software, firmware, or a combination thereof. In the above-described embodiments, multiple steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0145] While 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 invention, and that the scope of the 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 can 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 and comprises the following steps: 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; Calculating a tension adjustment range of the hydraulic mooring device, and calculating a target preload force based on the tension adjustment range and the peak value of the external interference force using a beetle whisker algorithm; calculating an initial opening 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 interference force data of the ship's mooring rope and determining the external interference force peak value according to the external interference force data specifically includes: obtaining an initial preload force and a current preload force of the hydraulic mooring device; performing a subtraction operation on the current preload force and the initial preload force to obtain the external interference force data; The maximum value and the minimum value in the external interference force data are determined to obtain the external interference 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 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 target preload force is calculated based on the tension adjustment range and the external interference force peak value by using the beetle whisker algorithm, specifically including: Setting an objective function according to the tension adjustment range and the peak value of the external interference force; 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 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 It 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, an initial solution space of the beetle whisker algorithm is set; Calculating the center point of the solution space according to the initial solution space, and determining the random generation direction and 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; 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 reaches 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 Indicates the target control valve flow area at the initial moment, 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 interference force peak value determination module, configured to calculate external interference force data of a ship's mooring rope and determine the external interference force peak value based on the external interference force data; a target preload calculation module, configured to calculate a tension adjustment range of the hydraulic mooring device, and obtain a target preload by calculating the tension adjustment range and the peak value of the external interference force using a beetle whisker algorithm; a control valve initial opening calculation module, configured to calculate an 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; An 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 method for controlling the initial preload force of a ship hydraulic mooring device according to any one of claims 1 to 7 are realized.

10. A storage medium, which is a computer-readable storage medium and is 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 the ship hydraulic mooring device according to any one of claims 1 to 7.

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