An engineering ship

Abstract

The present application provides an engineering vessel, which relates to the technical field of engineering vessels. The method for the control module in the engineering vessel to obtain operating parameters includes: obtaining the wave data corresponding to the engineering vessel in the current time period based on a preset time interval, and obtaining the motion response spectrum of the vessel through the wave data; 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, and determining the second failure probability corresponding to each orientation according to the first failure probability; and 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 automatically calculates the optimal orientation and mooring cable arrangement parameters based on the wave data, which is fast and can avoid the influence of personal experience, has high accuracy and can achieve synchronous changes in the vessel orientation, mooring cable arrangement parameters and wave disturbances, thereby effectively eliminating the influence of wave disturbances.

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 ships are sailing or operating at sea, they are affected by wave disturbances and will produce motion responses such as six-degree-of-freedom swaying. Currently, in order to reduce the impact of wave disturbances, the existing technology adopts the method of detecting the motion response of the ship. When the motion response exceeds a predetermined amplitude, the operator determines the operating parameters of the ship (such as the ship's heading and mooring cable layout parameters) based on their own experience and adjusts the ship according to these operating parameters. However, this method of manually determining operating parameters relies heavily on personal experience, has poor accuracy, and can only determine operating parameters after the ship changes. As a result, the adjustment method lags significantly behind the changes in wave disturbances, making it difficult to effectively avoid the impact of wave disturbances. Summary of the Invention

[0003] The embodiments of the present application provide 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] To achieve this goal, 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 includes a control module. Operation parameters of the engineering vessel include the orientation of the vessel. A method for the control module to obtain the operation parameters includes:

[0006] acquiring wave data corresponding to the engineering vessel based on a preset time interval, and acquiring 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 a surge wave parameter, a wind wave parameter, and a mixed wave parameter;

[0007] calculating, based on the distribution function corresponding to the motion response spectrum, first failure probabilities under different wave actions in the wave data corresponding to the current time period, and determining second failure probabilities corresponding to each direction according to the first failure probabilities;

[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 one possible implementation, obtaining 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 multiple wave data, each wave data corresponding to a different time period;

[0012] Wave data corresponding to the current time period is obtained, and a directional spectrum of the multi-directional irregular waves is obtained based on the wave data.

[0013] In one possible implementation, the sub-wave data includes swell 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 multidirectional 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 one possible implementation, 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, and determining the second failure probability corresponding to each orientation 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 preset motion response limits, wherein the motion response limits include motion response limit values ​​of the engineering vessel in different degrees of freedom;

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

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

[0021]

[0022] Where 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 one 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, 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. The mooring cable arrangement parameters and the target orientation are determined using a particle swarm optimization algorithm according to the total evaluation function, where 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 amplification 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 i-th mooring line, k is the elastic coefficient of the mooring line, θ i is the angle of mooring line 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, G1, G2 and G3 are transformation functions.

[0030] In one possible implementation, obtaining the total evaluation function includes:

[0031] A total evaluation function is established according to the first evaluation function and the second evaluation function. 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 one possible implementation, determining 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 j-th 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 one 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 by 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 i-th irregular wave (which includes n waves) acts, P ij (S ij (ω,θ)) is the failure probability when the neutron wave j of the i-th irregular wave acts.

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

[0039] The engineering vessel provided herein includes a control module, wherein the operating parameters of the engineering vessel include the orientation of the vessel, and a method for the control module to obtain the operating parameters includes: obtaining wave data corresponding to the engineering vessel in a current time period based on a preset time interval, obtaining a motion response spectrum of the vessel based on the wave data, wherein the wave data includes multiple sub-wave data, and the sub-wave data includes at least one of swell parameters, wind wave parameters, and mixed wave parameters; calculating a first failure probability under different wave effects in the wave data corresponding to the current time period based on a distribution function corresponding to the motion response spectrum, determining a second failure probability corresponding to each orientation based on the first failure probability; and determining an optimal orientation and mooring cable arrangement parameters for the engineering vessel in the current time period based on 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 a second failure probability of the vessel under different orientations using the motion response spectrum, and obtain the optimal orientation and mooring cable arrangement parameters for the engineering vessel in the current time period based on the second failure probability. The present application can automatically calculate the optimal orientation and mooring cable arrangement parameters of the engineering vessel based on the wave data, with high speed and without the influence of personal experience, high accuracy, and can achieve synchronous changes in the vessel orientation and mooring cable arrangement parameters with 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 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 following describes the embodiments of the present application in conjunction with the accompanying drawings. It should be understood that the embodiments described below in conjunction with the accompanying 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] Those skilled in the art will understand that, unless otherwise stated, the singular forms "a," "an," "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 mean that the corresponding features can be implemented as the presented features, information, data, steps, operations, elements, and / or components, but do not exclude implementation as 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 refer to an element as being "connected" or "coupled" to another element, the element can be directly connected or coupled to the other element, or it can refer to the element and the other element establishing 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 implementation as "A," or implementation as "A," or implementation as "A and B."

[0046] To make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be described in further 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 repeated.

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

[0049] In the embodiment of the present application, an engineering vessel is provided, such as Figure 1-Figure 3As shown, the engineering vessel includes a control module, which is used to obtain operating parameters. The control module can be installed on the engineering vessel or independently of the engineering vessel (such as as a remote control platform for the engineering vessel). The control module can be a computer, server, cloud platform, or other terminal capable of calculating operating 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 that work on water.

[0051] When the operation parameters include the orientation of the vessel, 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, each of which includes at least one of a swell wave parameter, a wind wave parameter, and a mixed wave parameter. The type of sub-wave included in the wave data can be determined based on the type of waves in the area where the engineering vessel is located and 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 to a preset database to obtain total wave data of the construction location corresponding to the engineering vessel; splitting the total wave data into multiple wave data according to the preset time interval, each wave data corresponding to a different time period; obtaining wave data corresponding to the current time period, and obtaining the directional spectrum of the 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 other time intervals. The total wave data including wind waves, swell waves, and mixed waves are obtained from the database, statistical analysis is performed at 3-hour 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 multidirectional 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 angle of incidence 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. The irregular waves may be a mixture of wind waves and swell waves. The combination of wind waves and swell waves can be described by a bimodal spectrum. The description can be:

[0061] S(ω)=S wind (ω)+S swell (ω)

[0062] Where S wind (ω) is the wind and wave spectrum; S swell (ω) is the surge spectrum, and 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 ocean waves; S(ω) can be selected from the JONSWAP spectrum (a way to express the ocean wave spectrum). 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. S PM The calculation formula for (ω) is:

[0067] Where, ωp is the spectrum peak frequency, H s is the significant 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 effect of frequency can be ignored. The directional distribution function of wind waves or swells 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 range from n = 2 to n = 10. Low-wind sea conditions generally have lower n, while high-wind sea conditions have higher n values. Swell sea conditions, on the other hand, are characterized by 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 calculating the motion amplitude RAO(ω) of the engineering vessel using a hydrodynamic analysis tool such as AQWA, the first motion amplitude RAO(ω,θ) generated by waves acting on the vessel at different incident angles can be obtained using this motion amplitude, where θ represents the incident angle. The motion response spectrum of the vessel can then be calculated based on the calculation formula corresponding to this first motion amplitude and the directional spectrum of the irregular wave. The relevant calculation formula is:

[0074] S res (ω,θ)=S(ω,θ)RAO 2 (ω,θ).

[0075] Where S res (ω,θ) is the motion response spectrum of the ship, and 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 at different incident angles.

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

[0077] Optionally, calculating a first failure probability under different wave actions in wave data corresponding to the current time period based on a distribution function corresponding to the motion response spectrum, and determining a second failure probability corresponding to each orientation based on the first failure probability, includes: obtaining a distribution function of the motion response spectrum, calculating the first failure probability of the engineering vessel under different sub-wave actions in each orientation based on the distribution function and preset motion response limits, where the motion response limits include motion response limit values ​​of the engineering vessel at different degrees of freedom; and determining the second failure probability corresponding to each orientation based on the first failure probability. The distribution function may be a function conforming to a Rayleigh distribution.

[0078] In one embodiment, engineering vessel operations typically occur in relatively calm weather. Therefore, linear wave theory can be used to describe wave and vessel motion. Over a limited duration, such as three hours, the processes involved in the engineering vessel (surface elevation and vessel motion) can be well modeled as a stationary Gaussian process. Accordingly, the distribution function of the engineering vessel's motion response spectrum can be expressed as a 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 based on 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 pass through 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, 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 j-th degree of freedom can be expressed as x j,lim , the first failure probability of the engineering ship under different directions and 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 j-th 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 inconsistency of the wind direction of the surge 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 the composition of a single wave 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 ship's characteristic period. Although the wave height is small, the wave period is close to the ship's natural period of response, which will cause a greater motion response. Consider all possible wave combinations to determine whether the operation is feasible. The failure probability calculation formula can be used to calculate the failure probability under the action of different sub-waves (such as wind waves, surge waves, 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 by 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 i-th irregular wave (which includes n sub-waves) acts, P ij (S ij (ω,θ)) is the failure probability when the neutron wave j of the i-th irregular wave 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 for each orientation in the current time period, the orientation corresponding to the smallest failure probability among all failure probabilities is determined as the optimal orientation at the current time end. The above method can also be used to obtain the optimal orientation of the area where the engineering vessel is located and other water areas in different time periods.

[0090] Optionally, 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 j-th 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, where q3h is a preset failure probability parameter. This preset failure probability condition can be used to determine whether the current time period is suitable for engineering vessel operations. If it is not met, the engineering vessel is determined to be inoperable; if it is met, it is determined to be operable.

[0091] In one embodiment, a preset time interval of 3 hours is used. The motion response of the engineering vessel at each time interval is calculated based on wave data acquired every three hours (including the wave height, period, and direction of each sub-wave). Based on this motion response, the optimal orientation of the engineering vessel at each time interval is determined. A determination is then made as to whether the second failure probability corresponding to the optimal orientation satisfies a preset failure probability condition. Based on this determination, the operable and inoperable time periods in the area where the engineering vessel is located are determined, thereby determining the annual operable window ratio. Similarly, the operable window ratio for each month can be determined (based on the ratio of the number of operable time periods to the total number of time periods in each month).

[0092] Optionally, to improve the anti-interference capability of the engineering vessel, the operating parameters may also include mooring cables. Therefore, the operating parameters include mooring cable layout parameters. If the second failure probability corresponding to the optimal orientation determined for the current time period does not meet a preset failure probability condition, the control module obtains the mooring cable layout parameters using the following method: if the second failure probability corresponding to the optimal orientation determined based on the distribution function does not meet the preset failure probability condition, then obtaining a first evaluation function and a second evaluation function based on the failure probability parameters and the mooring cable parameters, obtaining a total evaluation function corresponding to the first and second evaluation functions, and determining the mooring cable layout parameters and target orientation using a particle swarm optimization algorithm based on the total evaluation function. The mooring cable parameters include an elastic coefficient and a mooring force. In this way, the target orientation and mooring cable layout parameters that enable the engineering vessel to achieve stable operation are obtained, thereby increasing the operational time of the pile-driving vessel.

[0093] Optionally, when the second failure probability corresponding to the optimal orientation meets a preset failure probability condition, it is determined that the engineering vessel can operate stably in 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 amplification 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 i-th mooring line, k is the elastic coefficient of the mooring line (the elastic coefficient of all mooring lines is the same), θ i is the angle of mooring line 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 modulus of mooring line i, and F is the total external load on the mooring system.

[0099] Optionally, obtaining the total evaluation function includes: establishing a 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] Alternatively, 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 individual's historical optimal position (pBest) is set to the current position. The optimal individual in the swarm (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 formula.

[0102]

[0103] Where, 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-growth part, is the global growth part, c1 and c2 are acceleration coefficients, r1 and r2 are two random numbers in the [0,1] interval, 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 check whether the number of iterations reaches the preset number of iterations. If so, the iteration condition is determined to be met and the optimal solution is output. If not, the iteration is continued until the iteration condition is met. The orientation and mooring cable layout parameters corresponding to the optimal position after iteration are used to obtain the target orientation and final mooring cable layout parameters.

[0105] The project provided by the present application includes a control module, wherein the operating parameters of the engineering vessel include the orientation of the vessel, and the method for the control module to obtain the operating parameters includes: obtaining wave data corresponding to the engineering vessel in the current time period based on a preset time interval, obtaining a motion response spectrum of the vessel based on the wave data, the wave data including multiple wave data, the wave data including at least one of swell wave parameters, wind wave parameters, and mixed wave parameters; calculating a first failure probability under different wave effects in the wave data corresponding to the current time period based on a distribution function corresponding to the motion response spectrum, determining a second failure probability corresponding to each orientation based on the first failure probability; and determining the optimal orientation and mooring cable layout parameters of the engineering vessel in the current time period based on 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 vessel under different orientations using the motion response spectrum, and obtain the optimal orientation and mooring cable layout parameters of the engineering vessel in the current time period based on the second failure probability. The present application can automatically calculate the optimal orientation and mooring cable layout parameters of the engineering vessel based on the wave data, with high speed and ability to avoid the influence of personal experience, high accuracy, and ability to achieve synchronous changes in the vessel orientation, mooring cable layout parameters, and wave disturbances, thereby effectively eliminating the influence of wave disturbances.

[0106] The terms "first," "second," "third," "fourth," "1," "2," and the like (if any) in the specification and claims of this application and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a particular order or sequential sequence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of the 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 order of implementation of these steps is not limited to the order indicated by the arrows. Unless otherwise 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 can include multiple sub-steps or multiple stages based on actual implementation scenarios. Some or all of these sub-steps or stages can be executed at the same time, and each sub-step or stage in these sub-steps or stages can also be executed at different times respectively. Under different scenarios at the execution time, the execution order of these sub-steps or stages can be flexibly configured according to demand, and the embodiment of the present application does not limit this.

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

Claims

1. An engineering vessel, characterized in that: The engineering vessel 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: Acquiring 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 into multiple wave data according to the preset time interval, each wave data corresponding to a different time period; Acquire wave data corresponding to the current time period, wherein the sub-wave data corresponding to the current time period includes swell parameters and wind wave parameters; Obtaining a directional spectrum of multi-directional irregular waves according to the wave data, including: 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: （1） Where, represents the directional spectrum of multidirectional irregular waves, Indicates the wind and wave spectrum, represents the directional distribution function of wind waves, represents the surge spectrum, represents the directional distribution function of the surge, Indicates frequency, represents the incident angle of the wave; obtaining 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 a surge wave parameter, a wind wave parameter, and a mixed wave parameter; Calculating first failure probabilities under different wave actions in wave data corresponding to a current time period based on a distribution function corresponding to the motion response spectrum, and determining second failure probabilities corresponding to each direction based on the first failure probabilities, including: 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 preset motion response limits, wherein the motion response limits include motion response limit values ​​of the engineering vessel in different degrees of freedom; Determining a second failure probability corresponding to each orientation 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 distribution function is: Where, is the motion response of the engineering vessel in the jth degree of freedom, is the average number of response cycles within 3 hours, , is the zero-crossing period, , is the zero-order spectral moment, is the second-order spectral moment, = , = , , represents the motion response spectrum, ω is the frequency of the wave, and θ is the incident angle of the wave.

3. The engineering vessel according to claim 2, characterized in that: The method for the control module to obtain mooring line 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. The mooring cable layout parameters and the target orientation are determined using the particle swarm optimization algorithm according to the total evaluation function, where the mooring cable layout parameters include the elastic coefficient and the mooring force.

4. The engineering vessel according to claim 3, characterized in that: The first evaluation function is , , , , is the second failure probability corresponding to the optimal orientation, is the magnification or reduction factor, is the preset failure probability parameter, is the wave force, For the water flow force, For wind power, is the preset load parameter. is the weight.

5. The engineering vessel according to claim 4, characterized in that: The second evaluation function is: in, , is the elastic coefficient vector of the i-th mooring line, , k is the elastic coefficient of the mooring line, is the angle of mooring line i relative to the orientation, is the maximum stiffness of the mooring line, is the elastic coefficient of the mooring system composed of mooring cables in the x-axis direction, is the elastic coefficient of the mooring system composed of mooring cables in the y-axis direction, is the motion coefficient of the pile driving vessel in the x-axis direction, is the motion coefficient of the pile driving vessel in the y-axis direction, is the mooring force of the mooring system in the x-axis direction, is the mooring force of the mooring system in the y-axis direction, The mooring force assigned to mooring line i, for The limit value, 、 and is the weight, n is the number of cables, 、 and is the transformation function.

6. The engineering vessel according to claim 5, 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. The expression of the total evaluation function is: ,in, and is the transformation function, and is the weight, is the first evaluation function, is the second evaluation function.

7. The engineering vessel according to claim 3, characterized in that: The judgment of whether the failure probability conditions are met includes: If the optimal orientation is determined , then it is determined that the failure probability condition is met, where, , is the limit value of the j-th degree of freedom, is the motion response of the engineering ship in the jth degree of freedom under the optimal orientation, for Exceed The probability of is the preset failure probability parameter.

8. The engineering vessel according to claim 2, characterized in that: The calculation formula of the second failure probability is: ； Where P is the second failure probability, , Represented as a superposition of multiple waves; , which is represented by the superposition of multiple sub-waves in wave j, and m is the number of sub-waves; and represents the failure probability, is the second failure probability under all wave action, is the failure probability when the i-th irregular wave acts, is the failure probability when the neutron wave j of the i-th irregular wave acts.

Images