Engineering ship

Abstract

The invention provides an engineering ship, and relates to the technical field of engineering ships. The method for acquiring the operation parameters by the control module in the engineering ship comprises the steps of acquiring wave data corresponding to the engineering ship in a current time period based on a preset time interval, and acquiring a motion response spectrum of the ship through the wave data; based on a distribution function corresponding to the motion response spectrum, calculating a first failure probability under different wave effects in the wave data corresponding to the current time period, and determining a second failure probability corresponding to each orientation according to the first failure probability; and according to the second failure probability, determining the optimal orientation and mooring line arrangement parameters of the engineering ship in the current time period. According to the embodiment of the invention, the optimal orientation and the mooring line arrangement parameters are automatically calculated according to the wave data, the speed is high, the influence of personal experience can be avoided, the accuracy is high, the synchronous change of the ship orientation, the mooring line arrangement parameters and the wave disturbance can be realized, and thus the influence of the wave disturbance is effectively eliminated.

Description

Technical Field

[0001] The present application relates to the technical field of engineering vessels, and specifically, to an engineering vessel. Background Art

[0002] When a ship is sailing or operating at sea, it will produce six-degree-of-freedom swaying and other motion responses due to the influence of wave disturbance. At present, in order to reduce the influence of wave disturbance, the existing technology adopts the method of detecting the motion response of the ship. When the motion response exceeds the predetermined amplitude, the operator determines the operating parameters of the ship (such as the direction of the ship, mooring cable arrangement parameters) according to his own experience, and adjusts the ship according to the operating parameters. However, this method of manually determining the operating parameters relies heavily on personal experience, has poor accuracy, and can only determine the operating parameters after the ship changes, resulting in the adjustment method seriously lagging behind the changes in wave disturbance, and it is difficult to effectively avoid the influence of wave disturbance. Summary of the invention

[0003] The embodiment of the present application provides an engineering vessel that can solve the problem that the existing method of manually determining operating parameters has poor accuracy and hysteresis, and is difficult to effectively avoid the impact of wave disturbances.

[0004] In order to achieve this purpose, the embodiments of the present application provide the following solutions.

[0005] According to one aspect of an embodiment of the present application, an engineering vessel is provided, the engineering vessel comprising a control module, the operation parameters of the engineering vessel comprising the orientation of the vessel, and the method for the control module to obtain the operation parameters comprises:

[0006] Acquire wave data corresponding to the engineering vessel based on a preset time interval, and acquire a motion response spectrum of the engineering vessel in a current time period through the wave data, wherein the wave data includes a plurality of sub-wave data, and the sub-wave data includes at least one of surge wave parameters, wind wave parameters, and mixed wave parameters;

[0007] Based on the distribution function corresponding to the motion response spectrum, a first failure probability under different wave actions in the wave data corresponding to the current time period is calculated, and a second failure probability corresponding to each direction is determined according to the first failure probability;

[0008] The optimal orientation and mooring cable arrangement parameters of the engineering vessel in the current time period are determined according to the second failure probability.

[0009] In a possible implementation, the acquiring the wave data corresponding to the engineering vessel based on a preset time interval includes:

[0010] Connecting to a preset database to obtain total wave data of the construction location corresponding to the engineering vessel;

[0011] Splitting the wave data according to the preset time interval to form a plurality of wave data, each wave data corresponding to a different time period;

[0012] The wave data corresponding to the current time period is obtained, and the directional spectrum of the multi-directional irregular waves is obtained according to the wave data.

[0013] In a possible implementation, the sub-wave data includes surge parameters and wind wave parameters, and obtaining the directional spectrum of the multi-directional irregular wave according to the wave data includes:

[0014] The wave data is input into formula (1), and the directional spectrum of the multi-directional irregular wave is obtained by formula (1), wherein formula (1) is:

[0015] S(ω,θ)=S wind (ω)G wind (ω,θ)+S swell (ω)G swell (ω,θ) (1)

[0016] Where S(ω,θ) represents the directional spectrum of multi-directional irregular waves, S wind (ω) represents the wind wave spectrum, G wind (ω,θ) represents the directional distribution function of wind and waves, S swell (ω) represents the surge spectrum, G swell (ω,θ) represents the directional distribution function of the surge, ω represents the frequency, and θ represents the incident angle of the wave.

[0017] In a possible implementation, the calculating based on the distribution function corresponding to the motion response spectrum to obtain a first failure probability under different wave actions in the wave data corresponding to the current time period, and determining a second failure probability corresponding to each direction according to the first failure probability, includes:

[0018] Obtaining a distribution function of the motion response spectrum, and calculating a first failure probability of the engineering vessel under different wave actions in each orientation based on the distribution function and a preset motion response limit, wherein the motion response limit includes motion response limit values ​​of the engineering vessel under different degrees of freedom;

[0019] A second failure probability corresponding to each orientation is determined according to the first failure probability.

[0020] In a possible implementation, the distribution function is:

[0021]

[0022] In the formula, x j is the motion response of the engineering vessel in the jth degree of freedom, N3h is the average number of response cycles within 3 hours, N 3h =10800 / T z , T z is the zero-crossing period, m0 is the zero-order spectral moment, m2 is the second-order spectral moment,

[0023] S res (ω,θ) represents the motion response spectrum, ω is the frequency of the wave, and θ is the incident angle of the wave.

[0024] In a possible implementation, the method for the control module to obtain mooring line arrangement parameters includes:

[0025] If the second failure probability corresponding to the optimal orientation determined according to the distribution function does not meet the preset failure probability condition, the first evaluation function and the second evaluation function are obtained according to the failure probability parameter and the parameters of the mooring cable, and the total evaluation function corresponding to the first evaluation function and the second evaluation function is obtained. The mooring cable arrangement parameters and the target orientation are determined using a particle swarm optimization algorithm according to the total evaluation function, and the parameters of the mooring cable include an elastic coefficient and a mooring force.

[0026] In a possible implementation, the first evaluation function is f1=F(P t ,F wave ,F c ,F w ), P t is the second failure probability corresponding to the optimal orientation, α1 is the magnification or reduction factor, q3h is the preset failure probability parameter, F wave is the wave force, F c is the water flow force, F w is the wind force, F b is the preset load parameter, w m 、w n is the weight.

[0027] In a possible implementation, the second evaluation function is:

[0028]

[0029] in, is the elastic coefficient vector of the ith mooring line, k is the elastic coefficient of the mooring line, θ i is the angle of mooring cable i relative to the direction, K lim is the maximum stiffness of the mooring cable, kx is the elastic coefficient of the mooring system composed of mooring cables in the x-axis direction, k y is the elastic coefficient of the mooring system composed of mooring cables in the y-axis direction, D x is the motion coefficient of the pile-driving ship in the x-axis direction, D y is the motion coefficient of the pile-driving ship in the y-axis direction, F x is the mooring force of the mooring system in the x-axis direction, F y is the mooring force of the mooring system in the x-axis direction, F i Mooring force assigned to mooring line i, F i,lim F i The limit value, w k 、w d and w f is the weight, n is the number of cables, and G1, G2 and G3 are transformation functions.

[0030] In a possible implementation, the acquisition of the total evaluation function includes:

[0031] A total evaluation function is established according to the first evaluation function and the second evaluation function, and the expression of the total evaluation function is:

[0032] q=w q1 Q1(f1)+w q2 Q2(f2), where Q1 and Q2 are transformation functions, w q1 and w q2 is the weight, f1 is the first evaluation function, and f2 is the second evaluation function.

[0033] In a possible implementation, the determination of whether the failure probability condition is met includes:

[0034] If P[x j,3h >x j,lim ]≤q 3h , then it is determined that the failure probability condition is met, where, x j,lim is the limit value of the jth degree of freedom, x j,3h is the motion response of the engineering ship in the jth degree of freedom under the optimal orientation, P[x j,3h >x j,lim ] is x j,3h More than x j,lim probability, q3h is the preset failure probability parameter.

[0035] In a possible implementation, the calculation formula for the second failure probability is:

[0036]

[0037] Where P is the second failure probability, S total (ω,θ) is represented as the superposition of multiple waves; It is represented as the superposition of multiple sub-waves in wave j, where m is the number of sub-waves; P i and P ij represents the failure probability, P total (S total (ω,θ)) is the second failure probability under all wave action, is the failure probability when the ith irregular wave (which includes n waves) acts, P ij (S ij (ω,θ)) is the failure probability when the ith irregular wave neutron wave j acts.

[0038] The beneficial effects of the technical solution provided by the embodiment of the present application are:

[0039] The engineering vessel provided by the present application includes a control module, and the operation parameters of the engineering vessel include the orientation of the vessel. The method for the control module to obtain the operation parameters includes: obtaining the wave data corresponding to the engineering vessel in the current time period based on a preset time interval, obtaining the motion response spectrum of the vessel through the wave data, the wave data including multiple sub-wave data, and the sub-wave data including at least one of surge wave parameters, wind wave parameters, and mixed wave parameters; calculating the first failure probability under different wave actions in the wave data corresponding to the current time period based on the distribution function corresponding to the motion response spectrum, determining the second failure probability corresponding to each orientation according to the first failure probability; determining the optimal orientation and mooring cable arrangement parameters of the engineering vessel in the current time period according to the second failure probability. The embodiment of the present application can obtain the motion response spectrum of the engineering vessel using the wave data in the current time period and obtain the second failure probability of the ship under different orientations using the motion response spectrum, and obtain the optimal orientation and mooring cable arrangement parameters of the engineering vessel in the current time period through the second failure probability. The present application can automatically calculate the optimal orientation and mooring cable arrangement parameters of the engineering vessel according to the wave data, with fast speed and avoiding the influence of personal experience, high accuracy and synchronous changes of the ship orientation, mooring cable arrangement parameters and wave disturbances, thereby effectively eliminating the influence of wave disturbances. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following is a brief introduction to the drawings required for use in describing the embodiments of the present application.

[0041] Figure 1 A flowchart of obtaining operation parameters provided in an embodiment of the present application;

[0042] Figure 2 A structural diagram of an engineering vessel provided in an embodiment of the present application;

[0043] Figure 3 A flowchart for obtaining the optimal orientation provided in an embodiment of the present application. DETAILED DESCRIPTION

[0044] The embodiments of the present application are described below in conjunction with the drawings in the present application. It should be understood that the implementation methods described below in conjunction with the drawings are exemplary descriptions for explaining the technical solutions of the embodiments of the present application and do not constitute a limitation on the technical solutions of the embodiments of the present application.

[0045] It will be understood by those skilled in the art that, unless specifically stated, the singular forms "one", "said", and "the" used herein may also include plural forms. It should be further understood that the terms "including" and "comprising" used in the embodiments of the present application refer to that the corresponding features can be implemented as the presented features, information, data, steps, operations, elements and / or components, but do not exclude the implementation of other features, information, data, steps, operations, elements, components and / or combinations thereof supported by the present technical field. It should be understood that when we say that an element is "connected" or "coupled" to another element, the one element may be directly connected or coupled to the other element, or it may refer to that the one element and the other element establish a connection relationship through an intermediate element. In addition, the "connection" or "coupling" used herein may include wireless connection or wireless coupling. The term "and / or" used herein indicates at least one of the items defined by the term, for example, "A and / or B" indicates that it is implemented as "A", or is implemented as "A", or is implemented as "A and B".

[0046] In order to make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0047] The following describes several exemplary embodiments to illustrate the technical solutions of the embodiments of the present invention and the technical effects produced by the technical solutions of the present invention. It should be noted that the following embodiments can refer to, draw on or combine with each other, and the same terms, similar features and similar implementation steps in different embodiments will not be described repeatedly.

[0048] The engineering vessel provided in the present application is intended to solve at least one technical problem existing in the prior art.

[0049] In an embodiment of the present application, an engineering vessel is provided, such as Figure 1-Figure 3As shown, the engineering vessel includes a control module, and the acquisition of operation parameters is realized through the control module. The control module can be set on the engineering vessel, or can be set independently of the engineering vessel (such as as a remote control platform of the engineering vessel). The control module can be a computer, a server, a cloud platform, or other terminals capable of calculating operation parameters.

[0050] Optionally, the engineering vessel may be a pile-driving ship, a dredger, a crane ship, a cable-laying ship, a concrete mixing ship, or other types of ships working on water.

[0051] When the operation parameters include the orientation of the ship, the method for the control module to obtain the operation parameters includes:

[0052] S101: Acquire wave data corresponding to the engineering vessel based on a preset time interval, and acquire a motion response spectrum of the engineering vessel in the current time period through the wave data.

[0053] Optionally, the wave data includes a plurality of sub-wave data, and the sub-wave data includes at least one of a surge wave parameter, a wind wave parameter, and a mixed wave parameter. The type of sub-waves included in the wave data can be determined according to the type of waves in the area where the engineering vessel is located and the magnitude of the impact of different types of waves on the engineering vessel.

[0054] Optionally, wave data corresponding to the engineering vessel is obtained based on a preset time interval, including: connecting with a preset database to obtain total wave data of a construction location corresponding to the engineering vessel; splitting the total wave data according to the preset time interval to form multiple wave data, each wave data corresponding to a different time period; obtaining wave data corresponding to the current time period, and obtaining a directional spectrum of multi-directional irregular waves based on the wave data of the current time period.

[0055] Optionally, the database may be ECMWF (European Centre for Medium-Range Weather Forecasts) or other databases capable of storing wave data of an area where an engineering vessel is located.

[0056] In one embodiment, the preset time interval can be 3 hours, 4 hours or time intervals of other lengths. The total wave data including wind waves, swell waves and mixed waves are obtained from the database, statistical analysis is performed at 3h time intervals, and the wave data are classified by year and month.

[0057] Optionally, the sub-wave data corresponding to the current time period includes surge parameters and wind wave parameters, and obtaining the directional spectrum of the multi-directional irregular wave according to the wave data includes: inputting the wave data into formula (1), and obtaining the directional spectrum of the multi-directional irregular wave through formula (1), wherein formula (1) is:

[0058] S(ω,θ)=S wind (ω)G wind (ω,θ)+S swell (ω)G swell (ω,θ) (1)

[0059] Where S(ω,θ) represents the directional spectrum of multi-directional irregular waves, S wind (ω) represents the wind wave spectrum, G wind (ω,θ) represents the directional distribution function of wind and waves, S swell (ω) represents the surge spectrum, G swell (ω,θ) represents the directional distribution function of the surge, ω represents the frequency, θ is the incident angle, and is applied to G wind (ω,θ), θ represents the incident angle of wind and waves, which is applied to G swell (ω,θ), θ represents the incident angle of the swell. The directional spectrum is a function of the wave direction and frequency.

[0060] In one embodiment, the engineering vessel is operating in offshore waters, and the irregular waves may be mixed waves composed of wind waves and swell waves, and the combination of wind waves and swell waves may be described by a double-peak spectrum. The description may be:

[0061] S(ω)=S wind (ω)+S swell (ω)

[0062] Where S wind (ω) is the wind wave spectrum; S swell (ω) is the surge spectrum, ω is the frequency.

[0063] The energy spectrum function of the wave (i.e., the directional spectrum) is a function of the wave direction and frequency. After obtaining the double-peak spectrum, the directional spectrum can be calculated using the double-peak spectrum. The relevant calculation formula is:

[0064] S(ω,θ)=S(ω)G(ω,θ);

[0065]

[0066] Where S(ω,θ) is the directional spectrum of multi-directional irregular waves; G(ω,θ) is the directional distribution function of the waves; S(ω) can be selected from the JONSWAP spectrum (a way to express the wave spectrum) where A γ is the normalization factor, γ is the dimensionless peak shape parameter, ω is the frequency, [θ min ,θ max ] is the directional distribution range of multi-directional irregular waves. PM The calculation formula of (ω) is:

[0067] In the formula, ωp is the peak frequency, H s is the effective wave height.

[0068] Based on the above calculation formula, formula (1) can be obtained.

[0069] Optionally, when using the directional distribution function for calculation, the influence of frequency can be ignored. The directional distribution function of wind waves or swell waves can be expressed as:

[0070]

[0071] In this formula, Γ is the gamma function; θ p is the main incident angle of wind waves or swells; |θ-θ p |<π / 2. n is the wave expansion parameter. Typical values ​​for sea conditions generated by temperate winds are n=2 to n=10; low wind sea conditions usually have lower n, while high wind sea conditions have higher n values. Swell sea conditions are long wave crests or n>10. When calculating extreme wave loads, n should not be less than 10.

[0072] Optionally, obtaining the motion response spectrum of the engineering ship in the current time period through wave data includes: obtaining the motion amplitude of the engineering ship, and calculating the motion response spectrum of the engineering ship according to the motion amplitude and the directional spectrum corresponding to the current time period.

[0073] Optionally, after the motion amplitude RAO(ω) of the engineering ship is calculated by a hydrodynamic analysis tool such as AQWA, the first motion amplitude RAO(ω,θ) generated by the waves at different incident angles acting on the ship is obtained by the motion amplitude, where θ represents the incident angle. Then, the motion response spectrum of the ship can be calculated according to the calculation formula corresponding to the first motion amplitude and the directional spectrum of the irregular wave, and the relevant calculation formula is:

[0074] S res (ω,θ)=S(ω,θ)RAO 2 (ω,θ).

[0075] In the formula, S res (ω,θ) is the motion response spectrum of the ship, S(ω,θ) is the directional spectrum of the irregular wave. This formula can be used to calculate the motion response of the engineering ship under waves with different incident angles.

[0076] S102: Calculate the first failure probability under different wave actions in the wave data corresponding to the current time period based on the distribution function corresponding to the motion response spectrum, and determine the second failure probability corresponding to each direction according to the first failure probability.

[0077] Optionally, the first failure probability under different wave actions in the wave data corresponding to the current time period is calculated based on the distribution function corresponding to the motion response spectrum, and the second failure probability corresponding to each direction is determined according to the first failure probability, including: obtaining the distribution function of the motion response spectrum, calculating the first failure probability of the engineering ship under different sub-wave actions in each direction based on the distribution function and the preset motion response limit, the motion response limit including the motion response limit value of the engineering ship under different degrees of freedom; and determining the second failure probability corresponding to each direction according to the first failure probability. The distribution function may be a function that conforms to the Rayleigh distribution.

[0078] In one embodiment, engineering vessel operations are usually carried out in relatively calm weather, so linear wave theory can be used to describe waves and ship motion. Within a limited duration, such as 3 hours, the processes involved in the engineering vessel (surface elevation and ship motion) can be well modeled as a stationary Gaussian process, and accordingly, the distribution function of the motion response spectrum of the engineering vessel can be expressed as a distribution function that conforms to the Rayleigh distribution.

[0079] Optionally, the distribution function is:

[0080] x j is the motion response of the engineering ship in the jth degree of freedom. The motion response of the engineering ship under the incident wave at different times can be obtained according to the calculation formula related to the motion response spectrum, and then the motion response of the engineering ship in each degree of freedom can be determined according to the motion response. 3h is the average number of response cycles within 3 hours, N 3h =10800 / T z , T z is the zero crossing period, which is the period when the waves cross the zero point on the horizontal plane. m0 is the zero-order spectral moment, m2 is the second-order spectral moment,

[0081] The calculation formulas for m0 and m2 are: S res (ω,θ) represents the motion response spectrum of the engineering ship, ω is the frequency of the wave, and θ is the incident angle of the wave.

[0082] Optionally, in order to prevent the engineering vessel from losing stability, there are preset motion response limits for different degrees of freedom. If the motion response limit is exceeded, failure can be determined. Specifically, the motion response limit corresponding to the jth degree of freedom can be expressed as x j,lim , the first failure probability of the engineering ship under different directions for different waves can be obtained through the distribution function of the motion response limit and the motion response spectrum. The calculation formula of the first failure probability can be expressed as:

[0083] Among them, x j,lim is the limit value of the jth degree of freedom, x j,3h is the motion response of the engineering ship in the jth degree of freedom under the optimal orientation, P[x j,3h >x j,lim ] is x j,3h More than x j,lim probability, q3h is the preset failure probability parameter.

[0084] Optionally, after obtaining the first failure probability when different waves act on the ship in a certain direction, the maximum first failure probability in the direction may be determined as the second failure probability in the direction.

[0085] In one embodiment, during the ship construction process, due to the inconsistent wind directions of swells and wind waves, the orientation of the ship has a significant impact on the ship's motion response, and the ship's motion response is reduced by adjusting the orientation of the ship. For nearshore waters, irregular waves can be expressed as the superposition of multiple directional spectra, and for the composition of a single wave, it can be expressed as the superposition of multiple sub-waves. Due to the differences in the ranges of wave heights and periods and their different effects on ships, the wave heights and periods before and after the combined calculation may be close to the characteristic period of the ship. Although the wave height is small, the wave period is close to the inherent period of the ship's response, which will cause a greater motion response. Consider all possible combinations of waves to determine whether the operation is possible. The failure probability calculation formula can be used to calculate the failure probability under the action of different sub-waves (such as wind waves, swells, and mixed waves) in the wave data corresponding to the current time period, and the second failure probability corresponding to each orientation is determined based on these failure probabilities. Specifically, the calculation formula for the failure probability can be:

[0086]

[0087] Where P is the second failure probability, S total (ω,θ) is represented as the superposition of multiple waves; It is represented as the superposition of multiple sub-waves in wave j, where m is the number of sub-waves; P i and P ij represents the failure probability, P total (S total (ω,θ)) is the second failure probability under all wave action, is the failure probability when the ith irregular wave (which includes n sub-waves) acts, P ij (S ij (ω,θ)) is the failure probability when the ith irregular wave neutron wave j acts.

[0088] S103: Determine the optimal orientation and mooring cable arrangement parameters of the engineering vessel in the current time period according to the second failure probability.

[0089] Optionally, after obtaining the failure probability in each direction in the current time period, the direction corresponding to the smallest failure probability among all failure probabilities is determined as the optimal direction at the current time end. The above method can also be used to obtain the optimal directions of the area where the engineering vessel is located and other water areas in different time periods.

[0090] Optionally, in order to ensure the stable operation of the engineering vessel, the operation window of the engineering vessel needs to be obtained according to the preset failure probability condition. The judgment of whether the failure probability condition is met includes: if P[x j,3h >x j,lim ]≤q 3h , then it is determined that the failure probability condition is met, where x j,lim is the limit value of the jth degree of freedom, x j,3h is the motion response of the engineering ship in the jth degree of freedom under the optimal orientation, P[x j,3h >x j,lim ] is x j,3h More than x j,lim The probability of failure is q3h, and q3h is a preset failure probability parameter. Through the preset failure probability condition, it can be obtained whether the current time period can be used for engineering ship operation. If it is not satisfied, it is determined that the engineering ship cannot operate, and if it is satisfied, it is determined that it can operate.

[0091] In one embodiment, the preset time interval is 3 hours, and the motion response of the engineering vessel at different time intervals is calculated based on the wave data (including the wave height, period, and wave direction of each sub-wave) obtained every 3 hours, and the optimal orientation of the engineering vessel at different time intervals is obtained based on the motion response. And it is judged whether the second failure probability corresponding to the optimal orientation meets the preset failure probability condition. According to the judgment result, the operable time period and the inoperable time period in the area where the engineering vessel is located are obtained, and then the proportion of the operable window throughout the year is obtained. Similarly, the proportion of the operable window in each month can also be obtained (the proportion is obtained according to the ratio of the number of operable time periods in each month to the total number of time periods).

[0092] Optionally, in order to improve the anti-interference ability of the engineering vessel, the operating parameters may also include mooring cables. Therefore, the operating parameters include mooring cable arrangement parameters. If the second failure probability corresponding to the optimal orientation determined in the current time period does not meet the preset failure probability condition, the method for the control module to obtain the mooring cable arrangement parameters includes: if the second failure probability corresponding to the optimal orientation determined according to the distribution function does not meet the preset failure probability condition, then the first evaluation function and the second evaluation function are obtained according to the failure probability parameter and the parameters of the mooring cable, and the total evaluation function corresponding to the first evaluation function and the second evaluation function is obtained. According to the total evaluation function, the mooring cable arrangement parameters and the target orientation are determined using the particle swarm optimization algorithm. The parameters of the mooring cable include elastic coefficient and mooring force. In this way, the target orientation and mooring cable arrangement parameters that can achieve stable operation of the engineering vessel are obtained, thereby increasing the operating time of the pile driving ship.

[0093] Optionally, when the second failure probability corresponding to the optimal orientation satisfies a preset failure probability condition, it is determined that the engineering vessel can operate stably under the optimal orientation, and the mooring cable arrangement parameters can be directly determined as preset parameters.

[0094] Optionally, the first evaluation function is: f1=F(P t ,F wave ,F c ,F w ), F(P t ,F wave ,F c ,F w )=w m F1(F wave ,F c ,F w ,F b )+w n F2(P t ), P t is the second failure probability corresponding to the optimal orientation, α1 is the magnification or reduction factor, q3h is the preset failure probability parameter, F wave is the wave force, F c is the water flow force, F w is the wind force, F b is the preset load parameter, w m 、w n is the weight.

[0095] Optionally, the second evaluation function may be:

[0096]

[0097] in, is the elastic coefficient vector of the ith mooring line, k is the elastic coefficient of the mooring cable (the elastic coefficient of all mooring cables is the same), θ i is the angle of mooring cable i relative to the direction, K lim is the maximum stiffness of the mooring cable, k x is the elastic coefficient of the mooring system composed of mooring cables in the x-axis direction, k y is the elastic coefficient of the mooring system composed of mooring cables in the y-axis direction, D x is the motion coefficient of the pile-driving ship in the x-axis direction, D y is the motion coefficient of the pile-driving ship in the y-axis direction, F x is the mooring force of the mooring system in the x-axis direction, F y is the mooring force of the mooring system in the x-axis direction, F i Mooring force assigned to mooring line i, F i,lim F i The limit value, w k 、w d and w f is the weight, n is the number of cables, and G1, G2 and G3 are transformation functions.

[0098] Optionally, k i is the elastic coefficient of mooring line i, and F is all external loads on the mooring system.

[0099] Optionally, obtaining the total evaluation function includes: establishing the total evaluation function according to the first evaluation function and the second evaluation function, and the expression of the total evaluation function is:

[0100] q=w q1 Q1(f1)+w q2 Q2(f2), where Q1 and Q2 are transformation functions, w q1 and w q2 is the weight, f1 is the first evaluation function, and f2 is the second evaluation function.

[0101] Optionally, when optimizing the total evaluation function using the particle swarm optimization algorithm, the value of q is determined as a particle in the particle swarm, the speed and position of the particle are assigned, and the historical optimal position (pBest) of the individual is set to the current position, and the optimal individual in the group (the value of the total evaluation function corresponding to the optimal orientation) is used as the optimal position (gBest) experienced by the current particle swarm. In each generation of evolution, the fitness function value of each particle is calculated. If the current fitness function value is better than the historical optimal value, pBest is updated. If the current fitness function value is better than the global historical optimal value, gBest is updated. The speed and position of the dth dimension of each particle i are updated according to the following formulas.

[0102]

[0103] In the formula, is the velocity of particle i in the dth dimension (which can be regarded as the current step), The velocity of particle i in the d-1th dimension (which can be regarded as the previous step), ω is the inertia weight, For the self-increasing part, is the global growth part, c1 and c2 are acceleration coefficients, r1 and r2 are two random numbers in the interval [0,1], is the optimal position of particle i in the dth dimension, gbest d is the optimal position of the particle swarm in the dth dimension, is the position of particle i in the dth dimension.

[0104] The above formula is continuously iterated to detect whether the number of iterations reaches the preset number of iterations. If so, it is determined that the iteration conditions are met and the optimal solution is output. If not, it is continued until the iteration conditions are met. The orientation and mooring cable layout parameters corresponding to the optimal position after iteration are used to obtain the target orientation and the final mooring cable layout parameters.

[0105] The project provided by the present application includes a control module, the operation parameters of the engineering ship include the direction of the ship, and the method for the control module to obtain the operation parameters includes: obtaining the wave data corresponding to the engineering ship in the current time period based on a preset time interval, obtaining the motion response spectrum of the ship through the wave data, the wave data includes multiple wave data, and the wave data includes at least one of surge wave parameters, wind wave parameters, and mixed wave parameters; calculating the first failure probability under different wave actions in the wave data corresponding to the current time period based on the distribution function corresponding to the motion response spectrum, determining the second failure probability corresponding to each direction according to the first failure probability; determining the optimal direction and mooring cable arrangement parameters of the engineering ship in the current time period according to the second failure probability. The embodiment of the present application can obtain the motion response spectrum of the engineering ship using the wave data in the current time period and obtain the second failure probability of the ship under different directions using the motion response spectrum, and obtain the optimal direction and mooring cable arrangement parameters of the engineering ship in the current time period through the second failure probability. The present application can automatically calculate the optimal direction and mooring cable arrangement parameters of the engineering ship according to the wave data, which is fast and can avoid the influence of personal experience, has high accuracy and can achieve the synchronous change of the ship direction, mooring cable arrangement parameters and wave disturbance, thereby effectively eliminating the influence of wave disturbance.

[0106] The terms "first", "second", "third", "fourth", "1", "2", etc. (if any) in the specification and claims of this application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than that shown or described in the drawings.

[0107] It should be understood that, although each operation step is indicated by arrows in the flowchart of the embodiment of the present application, the implementation order of these steps is not limited to the order indicated by the arrows. Unless clearly stated herein, in some implementation scenarios of the embodiment of the present application, the implementation steps in each flowchart can be performed in other orders according to demand. In addition, some or all of the steps in each flowchart may include multiple sub-steps or multiple stages based on actual implementation scenarios. Some or all of these sub-steps or stages may be executed at the same time, and each sub-step or stage in these sub-steps or stages may also be executed at different times respectively. In different scenarios of execution time, the execution order of these sub-steps or stages may be flexibly configured according to demand, and the embodiment of the present application does not limit this.

[0108] The above is only an optional implementation method for some implementation scenarios of the present application. It should be pointed out that for ordinary technicians in this technical field, without departing from the technical concept of the solution of the present application, other similar implementation methods based on the technical ideas of the present application are also within the protection scope of the embodiments of the present application.

Claims

1. An engineering vessel, characterized in that: The engineering vessel includes a control module, the operation parameters of the engineering vessel include the orientation of the vessel, and the method for the control module to obtain the operation parameters includes: Acquire wave data corresponding to the engineering vessel based on a preset time interval, and acquire a motion response spectrum of the engineering vessel in a current time period through the wave data, wherein the wave data includes a plurality of sub-wave data, and the sub-wave data includes at least one of surge wave parameters, wind wave parameters, and mixed wave parameters; Based on the distribution function corresponding to the motion response spectrum, a first failure probability under different wave actions in the wave data corresponding to the current time period is calculated, and a second failure probability corresponding to each direction is determined according to the first failure probability; The optimal orientation and mooring cable arrangement parameters of the engineering vessel in the current time period are determined according to the second failure probability.

2. The engineering vessel according to claim 1, characterized in that: The step of obtaining wave data corresponding to the engineering vessel based on a preset time interval includes: Connecting to a preset database to obtain total wave data of the construction location corresponding to the engineering vessel; Splitting the total wave data according to the preset time interval to form a plurality of wave data, each wave data corresponding to a different time period; The wave data corresponding to the current time period is obtained, and the directional spectrum of the multi-directional irregular waves is obtained according to the wave data.

3. The engineering vessel according to claim 2, characterized in that: The sub-wave data corresponding to the current time period includes swell parameters and wind wave parameters, and obtaining the directional spectrum of the multi-directional irregular wave according to the wave data includes: The wave data is input into formula (1), and the directional spectrum of the multi-directional irregular wave is obtained by formula (1), wherein formula (1) is: S(ω,θ)=S wind (ω)G wind (ω,θ)+S swell (ω)G swell (ω,θ) (1) Where S(ω,θ) represents the directional spectrum of multi-directional irregular waves, S wind (ω) represents the wind wave spectrum, G wind (ω, θ) represents the directional distribution function of wind and waves, S swell (ω) represents the surge spectrum, G swell (ω, θ) represents the directional distribution function of the surge, ω represents the frequency, and θ represents the incident angle of the wave.

4. The engineering vessel according to claim 3, characterized in that: The calculating of the first failure probability under different wave actions in the wave data corresponding to the current time period based on the distribution function corresponding to the motion response spectrum, and determining the second failure probability corresponding to each direction according to the first failure probability, comprises: Obtaining a distribution function of the motion response spectrum, and calculating a first failure probability of the engineering vessel under different sub-waves in each orientation based on the distribution function and a preset motion response limit, wherein the motion response limit includes motion response limit values ​​of the engineering vessel under different degrees of freedom; A second failure probability corresponding to each orientation is determined according to the first failure probability.

5. The engineering vessel according to claim 4, characterized in that: The distribution function is: In the formula, x j is the motion response of the engineering vessel in the jth degree of freedom, N 3h is the average number of response cycles within 3 hours, N 3h =10800 / T z , T z is the zero-crossing period, m0 is the zero-order spectral moment, m2 is the second-order spectral moment, S res (ω, θ) represents the motion response spectrum, ω is the frequency of the wave, and θ is the incident angle of the wave.

6. The engineering vessel according to claim 5, characterized in that: The method for the control module to obtain mooring cable arrangement parameters includes: If the second failure probability corresponding to the optimal orientation determined according to the distribution function does not meet the preset failure probability condition, the first evaluation function and the second evaluation function are obtained according to the failure probability parameters and the parameters of the mooring cable, and the total evaluation function corresponding to the first evaluation function and the second evaluation function is obtained. According to the total evaluation function, the mooring cable arrangement parameters and the target orientation are determined using a particle swarm optimization algorithm, and the mooring cable arrangement parameters include elastic coefficient and mooring force.

7. The engineering vessel according to claim 6, characterized in that: The first evaluation function is f1=F(P t , F wave , F c , F w ), P t is the second failure probability corresponding to the optimal orientation, α1 is the magnification or reduction factor, q3h is the preset failure probability parameter, F wave is the wave force, F c is the water flow force, F w is the wind force, F b is the preset load parameter, w m 、w n is the weight.

8. The engineering vessel according to claim 7, characterized in that: The second evaluation function is: in, is the elastic coefficient vector of the ith mooring line, k is the elastic coefficient of the mooring line, θ i is the angle of mooring cable i relative to the direction, K lim is the maximum stiffness of the mooring cable, k x is the elastic coefficient of the mooring system composed of mooring cables in the x-axis direction, k y is the elastic coefficient of the mooring system composed of mooring cables in the y-axis direction, D x is the motion coefficient of the pile-driving ship in the x-axis direction, D y is the motion coefficient of the pile-driving ship in the y-axis direction, F x is the mooring force of the mooring system in the x-axis direction, F y is the mooring force of the mooring system in the x-axis direction, F i Mooring force assigned to mooring line i, F i，lim F i The limit value, w k 、w d and w f is the weight, n is the number of cables, and G1, G2 and G3 are transformation functions.

9. The engineering vessel according to claim 8, characterized in that: The acquisition of the total evaluation function includes: A total evaluation function is established according to the first evaluation function and the second evaluation function, and the expression of the total evaluation function is: q=w q1 Q1(f1)+w q2 Q2(f2), where Q1 and Q2 are transformation functions, w q1 and w q2 is the weight, f1 is the first evaluation function, and f2 is the second evaluation function.

10. The engineering vessel according to claim 6, characterized in that: The judgment of whether the failure probability conditions are met includes: If P[x j，3h >x j，lim ]≤q 3h , then it is determined that the failure probability condition is met, where, x j，lim is the limit value of the jth degree of freedom, x j，3h is the motion response of the engineering ship in the jth degree of freedom under the optimal orientation, P[x j，3h >x j，lim ] is x j，3h More than x j，lim probability, q3h is the preset failure probability parameter.

11. The engineering vessel according to claim 5, characterized in that: The calculation formula of the second failure probability is: Where P is the second failure probability, S total (ω, θ) is represented as the superposition of multiple waves; It is represented as the superposition of multiple sub-waves in wave j, where m is the number of sub-waves; P i and P ij represents the failure probability, P total (S total (ω, θ)) is the second failure probability under all wave action, is the failure probability when the ith irregular wave acts, P ij (S ij (ω, θ)) is the failure probability when the ith irregular wave neutron wave j acts.

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