Ship hydrodynamic response numerical simulation method and system considering effects of complex wave field and automatic mooring system

Abstract

The invention relates to the technical field of numerical simulation ship response, in particular to a ship hydrodynamic response numerical simulation method and system considering the effects of a complex wave field and an automatic mooring system. Firstly, ship radiation potential and hydrodynamic coefficients are obtained based on a three-dimensional potential flow theory and a boundary element method, and wave field information at a berth is obtained in combination with a Boussinesq wave theory; the time domain wave force is solved through the Haskind-Relation theory, and an automatic mooring numerical model integrated with a PD controller is established to calculate the automatic mooring force and torque; and finally, constructing a ship six-degree-of-freedom time domain motion equation based on the data, and solving by adopting a four-order Runge-Kutta method to obtain a time domain response result. The hybrid Boussinesq-Panel technology is adopted, the wave disturbance evaluation accuracy is improved, the blank that existing simulation does not consider an automatic mooring system sufficiently is filled up, arrangement, parameters and control strategies of the automatic mooring device can be flexibly adjusted and secondarily developed, applicability and flexibility are high, and the method is suitable for large-scale popularization and application. And reliable decision support can be provided for procurement and deployment of automatic mooring equipment of a port.

Description

Technical Field

[0001] This invention relates to the field of numerical simulation of ship response technology, specifically to a numerical simulation method and system for ship hydrodynamic response considering complex wave fields and automatic mooring systems. Background Technology

[0002] Mooring operations within a port are a crucial aspect of port loading, unloading, and operations, directly impacting the safety of port workers and the port's economic benefits. Traditional mooring systems typically consist of mooring lines and fenders, relying heavily on manual labor by a large number of workers or mooring boats, resulting in high workload and low efficiency.

[0003] With advancements in shipbuilding technology, the size and tonnage of vessels are constantly increasing, making traditional mooring methods increasingly inadequate for safe mooring needs. This leads to safety hazards such as mooring line detachment and breakage, posing a serious threat to port property and personnel safety. Especially under long-cycle waves and other extreme conditions, traditional mooring systems are insufficient in their response capabilities, leaving them in a passive state and severely limiting port operational efficiency and safety levels.

[0004] In recent years, a new type of adsorption mooring system, combined with modern control technology, has provided a new solution for safely and stably completing ship mooring operations. This system is fixedly installed on the quay side, contacting the ship's hull via suction cups and adhering to the vessel using vacuum or magnetic force, while a hydraulic mechanical device provides reliable restraint. Workers can complete berthing and unberthing operations within tens of seconds using a remote control from outside the work area, completely eliminating the manual mooring process and significantly reducing the risk of accidents and injuries.

[0005] Although the system has been deployed worldwide, research on it still has the following shortcomings: 1. There is still a lack of in-depth understanding of the working state and stability of automatic mooring systems under different environmental conditions, especially under the action of long-period waves, and related knowledge is still lacking.

[0006] 2. When planning to procure automated mooring equipment, port operators need to evaluate its applicability in the port and determine a reasonable procurement quantity through reliable experimental procedures. Since physical model testing is difficult to implement in automated mooring systems, numerical simulation methods are currently widely used. However, the number of available simulation software programs is limited, and most systems are relatively closed, typically only supporting simulations of automated mooring products from specific manufacturers, making it difficult to simulate and analyze equipment from other brands with different control strategies. Summary of the Invention

[0007] The purpose of this invention is to propose a numerical simulation method and system for ship hydrodynamic response considering complex wave fields and automatic mooring systems, which can accurately characterize the influence of automatic mooring systems on ship motion response under complex wave conditions.

[0008] According to a first aspect of the present disclosure, a numerical simulation method for ship hydrodynamic response considering complex wave fields and automatic mooring systems is provided, comprising the following steps: Based on the three-dimensional potential flow theory, the boundary element method is used to obtain the ship's radiation potential and hydrodynamic coefficients. At the same time, based on the Boussinesq wave theory, the wave height and current velocity information at the berth are solved to construct the basic data of wave field and ship hydrodynamics. By integrating radiation potential and wave field information, the time-domain wave force on the ship is solved using Haskind-Relation theory; Establish an automatic mooring numerical model with an integrated PD controller, and obtain the automatic mooring force provided by the automatic mooring system based on the ship's motion state; Based on hydrodynamic coefficients, time-domain wave forces, and automatic mooring forces, a six-degree-of-freedom time-domain motion equation for the ship is constructed and solved to obtain the time-domain response results of the moored ship.

[0009] In one embodiment, the ship's radiation potential is expressed using the Laplace equation. As the governing equation, it satisfies the linearized free surface boundary conditions, the impenetrable surface conditions, and the seabed conditions. The integral equation is solved by discretizing the wetted surface of the hull as a quadrilateral grid and distributing the source strength. The hydrodynamic coefficients include the additional mass coefficient and the radiation damping coefficient.

[0010] In one embodiment, the Boussinesq wave theory uses flux-form equations to obtain the free water surface elevation and water depth average velocity at the intersection of the ship and the still water surface. After Fourier transform, the correlation between horizontal velocity, pressure and water depth average velocity is established based on linear theory.

[0011] In one embodiment, the process of solving the time-domain wave force is as follows: first, the frequency-domain wave force is obtained through Haskind-Relation theory: in, Radiation potential; , These are pressure and incident potential, respectively; For the wet surface of the hull; Then, through inverse Fourier transform, it is converted into time-domain wave force: In one embodiment, the error function of the automated mooring numerical model is defined as a combination of horizontal displacement and velocity: in, , These represent the displacement and velocity of the automatic mooring unit on the horizontal plane at the current moment; its control quantity is expressed through a proportional coefficient. and differential coefficients adjust: in, , These represent the displacement and velocity of the automatic mooring unit on the horizontal plane at the initial moment; The x and y components of the automatic mooring force are in the form of: The torque is obtained by cross product of the vector from the point of application to the ship's center of gravity and the automatic mooring force: in, This represents the vector from the point of action of the automatic mooring unit to the ship's center of gravity. This indicates the automatic mooring force provided by the automatic mooring unit at the current moment.

[0012] In one embodiment, the six-degree-of-freedom time-domain motion equations of the ship are: in, and For the mass matrix and additional mass matrix of the ship in the time domain; The restoring force matrix in the time domain; The matrix represents the hysteresis function. Wave force; The automatic mooring force provided to the automatic mooring system; For historical time variables.

[0013] In one embodiment, the fourth-order Runge-Kutta method is applied to solve the six-degree-of-freedom time-domain motion equations of the ship. The fourth-order Runge-Kutta method iteratively solves the motion equations by calculating the incremental values ​​M1, M2, M3, and M4 of four stages. The ship's displacement and velocity response are obtained by weighted summation of the incremental values, which are based on the motion state and external force loading at the current moment.

[0014] According to a second aspect of the present disclosure, a numerical simulation system for ship hydrodynamic response considering complex wave fields and automatic mooring systems is provided, comprising: The basic data construction module, based on the three-dimensional potential flow theory, uses the boundary element method to obtain the ship's radiation potential and hydrodynamic coefficients. At the same time, it uses the Boussinesq wave theory to solve for the wave height and current velocity information at the berth, thus constructing the basic data of wave field and ship hydrodynamics. The wave force calculation module integrates radiation potential and wave field information, and uses Haskind-Relation theory to solve the time-domain wave force on the ship. The automatic mooring force modeling module establishes an automatic mooring numerical model with an integrated PD controller and obtains the automatic mooring force provided by the automatic mooring system based on the ship's motion state. The motion response solution module constructs and solves the six-degree-of-freedom time-domain motion equations of the ship based on hydrodynamic coefficients, wave forces, and automatic mooring forces, and obtains the time-domain response results of the moored ship.

[0015] According to a third aspect of the present disclosure, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory and running on the memory, wherein the processor executes the program to implement the numerical simulation method for ship hydrodynamic response considering complex wave fields and automatic mooring systems.

[0016] According to a fourth aspect of the present disclosure, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the numerical simulation method for ship hydrodynamic response considering complex wave fields and automatic mooring systems.

[0017] The advantages of the above technical solutions adopted in this invention compared with the prior art are as follows: 1. This invention employs a hybrid Boussinesq-Panel method, which effectively improves the accuracy of wave disturbance assessment within the harbor, more realistically recreates the environmental loads borne by moored vessels under actual working conditions, significantly enhances the applicability of this numerical simulation method in engineering practice, and provides more reliable technical support for port-related engineering decisions.

[0018] 2. This invention, by establishing an automatic mooring numerical model unit, is the first to incorporate the automatic mooring system into the numerical simulation system of ship motion response, filling the technical gap of insufficient consideration of automatic mooring systems in existing simulation methods; it clarifies in detail the calculation logic and process of automatic mooring force, and its control parameters can be flexibly adjusted according to actual working conditions, greatly improving the applicability and flexibility of the simulation method. Attached Figure Description

[0019] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute an undue limitation of this application.

[0020] Figure 1 This is a schematic diagram of the overall process of the present invention; Figure 2 Target ship mesh model diagram of the embodiment; Figure 3 This is a partial calculation result diagram of the target ship using the boundary element method; Figure 4 A schematic diagram of the wave calculation domain and the target berth in the embodiment; Figure 5 This is a diagram showing the calculation results of the wave surface process line of the wave model at the berth in the embodiment; Figure 6 This is a diagram showing the calculated wave force experienced by the ship at the berth in the embodiment. Figure 7 This is a diagram showing the calculated wave force and wave moment experienced by the ship at the berth in the embodiment. Figure 8 This is a flowchart of solving the time-domain motion equations; Figure 9 It is a time-domain motion curve of the target ship. Detailed Implementation

[0021] The present disclosure will be further described below with reference to the accompanying drawings and embodiments.

[0022] It should be noted that the following detailed descriptions are exemplary and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0023] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0024] It should be noted that the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of methods and systems according to various embodiments of this disclosure. It should be noted that each block in a flowchart or block diagram may represent a module, segment, or portion of code, which may include one or more executable instructions for implementing the logical functions specified in the various embodiments. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than that shown in the drawings. For example, two consecutively represented blocks may actually be executed substantially in parallel, or they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the flowcharts and / or block diagrams, and combinations of blocks in the flowcharts and / or block diagrams, may be implemented using a dedicated hardware-based system that performs the specified functions or operations, or using a combination of dedicated hardware and computer instructions.

[0025] Example 1: like Figure 1 As shown, this embodiment provides a numerical simulation method for ship hydrodynamic response considering complex wave fields and automatic mooring systems, including the following steps: S1: Based on three-dimensional potential flow theory, the boundary element method is used to obtain the ship's radiation potential and hydrodynamic coefficients. Simultaneously, based on Boussinesq wave theory, wave height and current velocity information at the berth are solved, constructing the wave field and basic ship hydrodynamic data. The target ship mesh is as follows: Figure 2 As shown; Specifically, the ship's radiation potential is governed by the Laplace equation, which assumes incompressibility, irrotation, and inviscidity: (1) in, Represents the Laplace operator; Represents the velocity potential function; Represents the velocity vector of an object; Represents the Hamiltonian operator; and As shown below: (2) (3) The velocity potential satisfies the following boundary conditions: 1) Linearized free surface boundary conditions: (4) 2) Conditions for impenetrable surfaces: (5) in, Indicates the wet surface of the hull. Indicates the normal velocity of the ship's surface; 3) Seabed conditions: (6) velocity potential The time factor in the data is shown to be separated out: (7) in, ω The angular frequency of the periodic motion; It refers to water depth; It is the imaginary unit; For radiation potential In other words, equation (7) can be further decomposed into: (8) in, The amount of motion of a ship in a certain direction; The radiation potential generated by a unit amount of motion of a ship in this direction; Combining equations (1) to (8), radiation potential The calculation is transformed into a boundary value problem governed by the Laplace equation. The radiation potential can be obtained by discretizing the wetted surface of the hull into a series of quadrilateral meshes using the boundary element method, distributing sources on each mesh, and solving the integral equation for a fixed source intensity distribution. The specific method is as follows: Substituting the source into each surface element control point transforms it into a system of linear equations, the integral equations of which are shown below: (9) (10) in, It is the Green's function of a free surface; , These are the field point and the source point, respectively. For the source of strength.

[0026] The source strength can be obtained by solving the above integral equation. Furthermore, it can be calculated using the following formula: : (11) (12) Find the radiation potential Afterwards, as Figure 3 As shown, the ship's added mass coefficient can be obtained. and radiation damping coefficient The specific expression is as follows: (13) Taking the real and imaginary parts respectively, we get: (14) (15) Furthermore, the computational domain, such as Figure 4 As shown, the white dot P represents the berth location. The calculation conditions are: Hs = 1.6m; Tp = 10s, with waves incident positively from the bottom open boundary. Figure 5 The calculated wave height time series at the berth is represented by the flux-form Boussinesq equation, which yields the wave height at the point where the ship intersects the still water surface. Free surface elevation and average velocity at water depth The depth-average velocity is defined as follows: (16) in, express The water is deep there.

[0027] Assuming the waves of a ship are a superposition of linear free waves at a constant water depth, the dynamic pressure and vertical velocity at the water surface can be obtained through the linear free surface boundary conditions: (17) (18) Performing a Fourier transform on the above physical quantities yields: as well as According to linear theory, assuming that all waves exhibit a hyperbolic water depth variation pattern, therefore: (19) (20) in, Indicates the inverse Fourier transform. , representing the transverse component of the horizontal velocity, the longitudinal component of the horizontal velocity, and pressure, respectively; Under the first-order approximation, the relationship between the average velocity at depth and the velocity at the still water surface is as follows: (twenty one) The wet surface area of ​​the ship can be calculated using equations (19), (20), and (21). and ; S2: Integrating radiation potential and wave field information, the time-domain wave force on the ship is solved using Haskind-Relation theory, such as... Figure 6-7 As shown; Specifically, the frequency domain wave force is first obtained using Haskind-Relation theory. (twenty two) in, Radiation potential; , These are pressure and incident potential, respectively.

[0028] The wave force experienced by the ship in the time domain can be obtained by inverse Fourier transform of equation (22): (twenty three) S3: Establish an automatic mooring numerical model with an integrated PD controller, and obtain the automatic mooring force provided by the automatic mooring system based on the ship's motion state; specifically, the automatic mooring numerical model is established by the following steps: When the automatic mooring unit adheres to the hull, let the error function be: (twenty four) in, , These represent the displacement and velocity of the automatic mooring unit on the horizontal plane at the current moment, respectively.

[0029] Define control variables : (25) in, This represents the proportionality coefficient. Describing the differential coefficients Taking tidal changes into account, the automatic mooring unit allows the ship to move freely in the vertical direction (z-axis), that is: (26) Assuming the maximum horizontal force that a single automated mooring unit can provide is The horizontal automatic mooring force output after adjustment by the PD controller is: (27) exist x , y Directional component form writing: (28) (29) The torque provided by the automatic mooring unit is calculated by the following formula: (30) in This represents the vector from the point of action of the automatic mooring unit to the ship's center of gravity. Since the automatic mooring unit is rigidly connected to the ship, It does not change over time; This indicates the automatic mooring force provided by the automatic mooring unit at the current moment.

[0030] By combining equations (26), (28), (29) and (30), the automatic mooring force and torque of the automatic mooring unit can be obtained.

[0031] S4: Based on hydrodynamic coefficients, wave forces, and automatic mooring forces, the six-degree-of-freedom time-domain motion equations of the ship are constructed and solved to obtain the time-domain response results of the moored ship.

[0032] The time-domain motion equations of the ship with six degrees of freedom are as follows: (31) in: and For the mass matrix and additional mass matrix of the ship in the time domain; The restoring force matrix in the time domain; The matrix represents the hysteresis function. Wave force; Automatic mooring force provided for the automatic mooring system.

[0033] Additional mass matrix The result of equation (14) can be obtained by algebraic operations. When the added quality in the frequency domain is known at a certain frequency, It can be calculated using the following formula: (32) in The hysteresis function matrix can be obtained by performing an inverse Fourier transform on the result of equation (15): (33) For the six coupled second-order differential equations in equation (31), the fourth-order Runge-Kutta method is used to solve them. For the following second-order differential equations: (34) When applying the fourth-order Runge-Kutta method, the ship's displacement and velocity can be expressed as follows: (35) (36) In the formula, M1, M2, M3, and M4 are respectively: (37) (38) (39) (40) Firstly, according to tDisplacement of an object at any moment and speed The PD controller calculates the forces exerted on the ship by all automatic mooring units, and hydrodynamic coefficients and hydrodynamic restoring forces are determined by hydrodynamic analysis. The wave excitation force is obtained by performing an inverse Fourier transform using equation (22), thereby obtaining the... The function is then obtained using equations (34)-(40). Displacement of the object at time t and speed And input to the PD controller, repeat. t The calculation of time continues in a cycle until the calculation is completed.

[0034] For this embodiment, the following specifications are specified: the maximum automatic mooring force of the automatic mooring unit in the x-direction is 100 kN; the maximum automatic mooring force in the y-direction is 200 kN; the P and D control parameters are both -5; a total of 14 automatic mooring devices are arranged along the ship's length, with adjacent devices spaced 5 m apart. The solution model for the time-domain motion equations is as follows: Figure 8 As shown, after completing the above parameter settings, input the combination of coefficients into the numerical model to solve the time-domain motion response of the moored ship. Figure 9 The figure shows the time series of the horizontal motion response of a ship in a port under the action of incident wave force and automatic mooring system.

[0035] In summary, this invention employs a hybrid Boussinesq-Panel technology solution and incorporates the automatic mooring system into the numerical model. This solution can accurately simulate the complex physical process of waves propagating from the open sea into the harbor, precisely reproduce the wave effects on ships within the harbor, and fully consider the effects of the automatic mooring device on the ship. Furthermore, the arrangement and definition of the automatic mooring device in this invention offer exceptional flexibility; users can not only independently set the location and number of the automatic mooring devices but also adjust and further develop their control parameters and strategies.

[0036] Example 2: This embodiment provides a numerical simulation system for ship hydrodynamic response considering complex wave fields and automatic mooring systems, including: The basic data construction module, based on the three-dimensional potential flow theory, uses the boundary element method to obtain the ship's radiation potential and hydrodynamic coefficients. At the same time, it uses the Boussinesq wave theory to solve for the wave height and current velocity information at the berth, thus constructing the basic data of wave field and ship hydrodynamics. The wave force calculation module integrates radiation potential and wave field information, and uses Haskind-Relation theory to solve the time-domain wave force on the ship. The automatic mooring force modeling module establishes an automatic mooring numerical model with an integrated PD controller and obtains the automatic mooring force provided by the automatic mooring system based on the ship's motion state. The motion response solution module constructs and solves the six-degree-of-freedom time-domain motion equations of the ship based on hydrodynamic coefficients, wave forces, and automatic mooring forces, and obtains the time-domain response results of the moored ship.

[0037] The above modules can be deployed on the same device or distributed devices; the division of modules is only a functional logic description and does not limit the specific physical boundaries or implementation order.

[0038] Example 3: An electronic device is provided for running the aforementioned "numerical simulation method for ship hydrodynamic response considering complex wave fields and automatic mooring systems". The electronic device includes a processor, a memory, and optional communication interfaces / display devices / input devices, etc.; the memory stores a computer program that can run on the processor, and when the processor executes the program, it implements steps S1 to S4 of the method described in Embodiment 1, specifically including but not limited to: S1: Based on the three-dimensional potential flow theory, the boundary element method is used to obtain the ship's radiation potential and hydrodynamic coefficients. At the same time, based on the Boussinesq wave theory, the wave height and current velocity information at the berth are solved to construct the basic data of wave field and ship hydrodynamics. S2: Integrate radiation potential and wave field information, and use Haskind-Relation theory to solve the time-domain wave force on the ship; S3: Establish an automatic mooring numerical model with an integrated PD controller, and obtain the automatic mooring force provided by the automatic mooring system based on the ship's motion state; S4: Based on hydrodynamic coefficients, wave forces, and automatic mooring forces, the six-degree-of-freedom time-domain motion equations of the ship are constructed and solved to obtain the time-domain response results of the moored ship.

[0039] The electronic device hardware can be one of a server, personal computer, workstation, industrial controller, edge computing device, or mobile terminal; the processor can be a general-purpose CPU, GPU, NPU, FPGA, or a combination thereof; the memory can be RAM, ROM, flash memory, or disk array. The device can interact with local / remote data storage (acquiring observation data and outputting inversion results) through a communication interface. The above hardware configuration does not constitute a limitation of the present invention.

[0040] Example 4: A computer-readable storage medium storing a computer program, which, when run on a processor of an electronic device, causes the program to perform the method steps S1 to S4 described in Embodiment 1; the storage medium may be a disk, optical disk, flash memory, solid-state drive, read-only memory, random access memory, or any combination of the above media.

[0041] Those skilled in the art will understand that the modules or steps described above can be implemented using general-purpose computer devices. Optionally, they can be implemented using computer-executable program code, which can then be stored in a storage device for execution by a computer device. Alternatively, they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. This disclosure is not limited to any particular combination of hardware and software.

[0042] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

[0043] While the specific embodiments of this disclosure have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of this disclosure. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solutions of this disclosure are still within the scope of protection of this disclosure.

Claims

1. A numerical simulation method for ship hydrodynamic response considering complex wave fields and automatic mooring systems, characterized in that, Includes the following steps: Based on the three-dimensional potential flow theory, the boundary element method is used to obtain the ship's radiation potential and hydrodynamic coefficients. At the same time, the wave height and current velocity information at the berth are solved based on the Boussinesq wave theory. By integrating radiation potential and wave field information, the time-domain wave force on the ship is solved using Haskind-Relation theory; Establish an automatic mooring numerical model with an integrated PD controller, and obtain the automatic mooring force provided by the automatic mooring system based on the ship's motion state; Based on hydrodynamic coefficients, time-domain wave forces, and automatic mooring forces, a six-degree-of-freedom time-domain motion equation for the ship is constructed and solved to obtain the time-domain response results of the moored ship.

2. The numerical simulation method for ship hydrodynamic response considering complex wave fields and automatic mooring systems as described in claim 1, characterized in that, The ship's radiation potential is expressed by the Laplace equation. As the governing equation, it satisfies the linearized free surface boundary conditions, the impenetrable surface conditions, and the seabed conditions. The integral equation is solved by discretizing the wetted surface of the hull as a quadrilateral grid and distributing the source strength. The hydrodynamic coefficients include the additional mass coefficient and the radiation damping coefficient.

3. The numerical simulation method for ship hydrodynamic response considering complex wave fields and automatic mooring systems as described in claim 1, characterized in that, The Boussinesq wave theory uses flux-form equations to obtain the free surface elevation and depth-average velocity at the intersection of the ship and the still water surface. After Fourier transform, the correlation between horizontal velocity, pressure and depth-average velocity is established based on linear theory.

4. The numerical simulation method for ship hydrodynamic response considering complex wave fields and automatic mooring systems as described in claim 1, characterized in that, The process of solving the time-domain wave force is as follows: First, the frequency-domain wave force is obtained through Haskind-Relation theory. in, Radiation potential; , These are pressure and incident potential, respectively; For the wet surface of the hull; Then, through inverse Fourier transform, it is converted into time-domain wave force: 。 5. The numerical simulation method for ship hydrodynamic response considering complex wave fields and automatic mooring systems according to claim 1, characterized in that, The error function of the automatic mooring numerical model is defined as: in, , These represent the displacement and velocity of the automatic mooring unit on the horizontal plane at the current moment; its control quantity is expressed through a proportional coefficient. and differential coefficients adjust: in, , These represent the displacement and velocity of the automatic mooring unit on the horizontal plane at the initial moment; The x and y components of the automatic mooring force are in the form of: The torque is obtained by cross product of the vector from the point of application to the ship's center of gravity and the automatic mooring force: in, This represents the vector from the point of action of the automatic mooring unit to the ship's center of gravity. This indicates the automatic mooring force provided by the automatic mooring unit at the current moment.

6. The numerical simulation method for ship hydrodynamic response considering complex wave fields and automatic mooring systems according to claim 1, characterized in that, The time-domain motion equations of the ship with six degrees of freedom are as follows: in, and For the mass matrix and additional mass matrix of the ship in the time domain; The restoring force matrix in the time domain; The matrix represents the hysteresis function. Wave force; The automatic mooring force provided to the automatic mooring system; For historical time variables.

7. The numerical simulation method for ship hydrodynamic response considering complex wave fields and automatic mooring systems according to claim 1, characterized in that, The fourth-order Runge-Kutta method is applied to solve the six-degree-of-freedom time-domain motion equations of the ship. The fourth-order Runge-Kutta method iteratively solves the motion equations by calculating the incremental values ​​M1, M2, M3, and M4 in four stages. The ship's displacement and velocity response are obtained by weighted summation of the incremental values, which are based on the motion state and external force loading at the current moment.

8. A numerical simulation system for ship hydrodynamic response considering complex wave fields and automatic mooring systems, characterized in that, include: The basic data construction module, based on the three-dimensional potential flow theory, uses the boundary element method to obtain the ship's radiation potential and hydrodynamic coefficients. At the same time, it uses the Boussinesq wave theory to solve for the wave height and current velocity information at the berth, thus constructing the basic data of wave field and ship hydrodynamics. The wave force calculation module integrates radiation potential and wave field information, and uses Haskind-Relation theory to solve the time-domain wave force on the ship. The automatic mooring force modeling module establishes an automatic mooring numerical model with an integrated PD controller and obtains the automatic mooring force provided by the automatic mooring system based on the ship's motion state. The motion response solution module constructs and solves the six-degree-of-freedom time-domain motion equations of the ship based on hydrodynamic coefficients, wave forces, and automatic mooring forces, and obtains the time-domain response results of the moored ship.

9. An electronic device, comprising a memory, a processor, and a computer program stored in the memory and running thereon, characterized in that, When the processor executes the program, it implements the numerical simulation method for ship hydrodynamic response considering complex wave fields and automatic mooring systems as described in any one of claims 1-7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by the processor, the program implements the numerical simulation method for ship hydrodynamic response considering complex wave fields and automatic mooring systems as described in any one of claims 1-7.

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