A tension leg wind power platform in-situ operation control method and device

Abstract

The present application relates to the technical field of power control, and particularly relates to a tension leg wind power platform in-place operation control method and device. The present application obtains real-time displacement, real-time angle, real-time shear force, real-time acceleration and real-time stress wave in the in-place operation process of the tension leg wind power platform; determines the equivalent fusion speed of the damper piston based on the real-time displacement, real-time angle, real-time shear force, real-time acceleration and real-time stress wave; determines the total damping force of the tension leg wind power platform based on the equivalent fusion speed; and controls the relative rotation speed of the connection node between the damper and the tension leg wind power platform based on the total damping force. Thus, the present application can effectively solve the technical problem that the tension leg wind power platform is easily affected by external loads such as wind waves and ocean currents in the in-place operation process, resulting in insufficient operation stability, and improve the smoothness, safety and reliability of platform operation.

Description

Technical Field

[0001] This invention relates to the field of power control technology, and in particular to a method and device for in-situ operation control of a tension leg wind turbine platform. Background Technology

[0002] Against the backdrop of global energy transition, offshore wind power has become an important direction for clean energy. However, traditional offshore wind power development faces challenges such as near-shore resource saturation, high costs in deep-sea areas, and difficulties in operation and maintenance; marine ranching development is limited by insufficient power supply. Independent development of these two sectors leads to resource waste and cumulative costs. Existing "wind-fishery integration" platforms are mostly limited to a binary combination, lacking multi-energy complementarity and a unified operation and maintenance system, and are difficult to cope with extreme sea conditions. Traditional magnetorheological dampers rely on displacement and acceleration feedback, which has defects such as response lag and inability to capture stress wave feedforward, making it difficult to meet the needs of tension leg wind power platforms for multi-directional force and multi-physical quantity sensing, resulting in operational instability.

[0003] Based on this, the present invention proposes an in-situ operation control method and device for tension leg wind turbines to solve the problem that tension leg wind turbines are easily affected by external loads such as wind waves and ocean currents during in-situ operation, resulting in insufficient operational stability. Summary of the Invention

[0004] To address the issue of insufficient operational stability caused by external loads such as wind waves and ocean currents during the in-situ operation of tension leg wind turbines, this invention provides an in-situ operation control method and device for tension leg wind turbines.

[0005] In a first aspect, embodiments of the present invention provide an in-situ operation control method for a tension leg wind turbine platform. The method is applied to a controller of an in-situ operation control system, the in-situ operation control system including the controller and the tension leg wind turbine platform; the bottom of the tension leg wind turbine platform is provided with at least three annular array dampers, the dampers being electrically connected to the controller, including: Acquire real-time displacement, rotation angle, shear force, acceleration, and stress wave of the tension leg wind turbine platform during its in-situ operation. Based on the real-time displacement, the real-time rotation angle, the real-time shear force, the real-time acceleration, and the real-time stress wave, the equivalent fusion velocity of the damper piston is determined. Based on the equivalent fusion velocity, the total damping force of the tension leg wind turbine platform is determined; Based on the total damping force, the relative rotation speed of the connection node between the damper and the tension leg wind turbine platform is controlled.

[0006] Secondly, embodiments of the present invention provide an in-situ operation control device for a tension leg wind turbine platform. The device is applied to the controller of an in-situ operation control system, which includes the controller and the tension leg wind turbine platform. At least three annular array dampers are disposed at the bottom of the tension leg wind turbine platform, and the dampers are electrically connected to the controller. The device includes: The acquisition module is used to acquire real-time displacement, real-time rotation angle, real-time shear force, real-time acceleration, and real-time stress wave during the in-situ operation of the tension leg wind turbine platform. The first data processing module is used to determine the equivalent fusion velocity of the damper piston based on the real-time displacement, the real-time rotation angle, the real-time shear force, the real-time acceleration, and the real-time stress wave. The second data processing module is used to determine the total damping force of the tension leg wind turbine platform based on the equivalent fusion speed. The third data processing module is used to control the relative rotation speed of the connection node between the damper and the tension leg wind power platform based on the total damping force.

[0007] Thirdly, embodiments of the present invention also provide an electronic device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, it implements the method described in any embodiment of the present invention.

[0008] Fourthly, embodiments of the present invention also provide a computer-readable storage medium having a computer program stored thereon, which, when executed in a computer, causes the computer to perform the methods described in any embodiment of the present invention.

[0009] This invention provides a method and apparatus for in-situ operation control of a tension leg wind turbine platform. First, various sensors deployed on the platform collect real-time operating parameters during the platform's operation, including real-time displacement, rotation angle, shear force, acceleration, and stress wave. These parameters reflect the platform's dynamic operating state under complex marine environments (such as wind, waves, and ocean currents). Next, based on the collected multi-dimensional parameters such as real-time displacement, rotation angle, shear force, acceleration, and stress wave, the equivalent fusion velocity of the damper piston is determined. This equivalent fusion velocity comprehensively reflects the platform's dynamic response characteristics. Subsequently, based on the determined equivalent fusion velocity, the total damping force required by the tension leg wind turbine platform is calculated. Finally, based on the calculated total damping force, control commands are issued to each damper to adjust the relative rotation speed between the damper and the connection point of the tension leg wind turbine platform in real time. By changing the damping coefficient of the damper, the impact of marine environmental loads on the platform is offset, suppressing platform vibration and attitude deviation. Thus, the present invention can effectively solve the technical problem that tension leg wind turbine platforms are easily affected by external loads such as wind, waves and ocean currents during in-situ operation, resulting in insufficient operational stability, and improve the stability, safety and reliability of platform operation. Attached Figure Description

[0010] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0011] Figure 1 A flowchart of an in-situ operation control method for a tension leg wind power platform according to one embodiment is shown; Figure 2 This is a hardware architecture diagram of an electronic device provided in an embodiment of the present invention; Figure 3 A structural diagram of an in-situ operation control device for a tension leg wind power platform according to one embodiment is shown; Figure 4 A structural schematic diagram of a tension leg wind turbine platform according to one embodiment is shown. Detailed Implementation

[0012] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0013] Please refer to Figure 1 This invention provides an in-situ operation control method for a tension leg wind turbine platform. The method is applied to the controller of an in-situ operation control system, which includes a controller and a tension leg wind turbine platform. At least three ring-array dampers are disposed at the bottom of the tension leg wind turbine platform, and the dampers are electrically connected to the controller. The method includes: Step 100: Obtain real-time displacement, real-time rotation angle, real-time shear force, real-time acceleration, and real-time stress wave during the in-situ operation of the tension leg wind turbine platform; Step 102: Determine the equivalent fusion velocity of the damper piston based on real-time displacement, real-time rotation angle, real-time shear force, real-time acceleration, and real-time stress wave. Step 104: Determine the total damping force of the tension leg wind turbine platform based on the equivalent fusion velocity; Step 106: Based on the total damping force, control the relative rotation speed of the connection node between the damper and the tension leg wind turbine platform.

[0014] In this embodiment, firstly, various sensors deployed on the platform collect real-time operational parameters of the tension leg wind turbine platform during its in-situ operation, including real-time displacement, real-time rotation angle, real-time shear force, real-time acceleration, and real-time stress wave. These parameters reflect the platform's dynamic operating status under complex marine environments (such as wind, waves, and ocean currents). Next, based on the collected multi-dimensional parameters such as real-time displacement, rotation angle, shear force, acceleration, and stress wave, the equivalent fusion velocity of the damper piston is determined. This equivalent fusion velocity comprehensively reflects the platform's dynamic response characteristics. Subsequently, based on the determined equivalent fusion velocity, the total damping force required by the tension leg wind turbine platform is calculated. Finally, based on the calculated total damping force, control commands are issued to each damper to adjust the relative rotation speed between the damper and the connection node of the tension leg wind turbine platform in real time. By changing the damping coefficient of the damper, the impact of marine environmental loads on the platform is offset, suppressing platform vibration and attitude deviation. Thus, the present invention can effectively solve the technical problem that tension leg wind turbine platforms are easily affected by external loads such as wind, waves and ocean currents during in-situ operation, resulting in insufficient operational stability, and improve the stability, safety and reliability of platform operation.

[0015] In one embodiment of the present invention, the equivalent fusion speed is determined by the following formula: In the formula, Let x be the equivalent fusion velocity, and x be the damper piston displacement. For the damper piston speed, For the real-time rotation angle The real-time angular velocity, The real-time shear force, For the real-time acceleration, The real-time stress wave, The characteristic impedance of the cable, For the fundamental frequency of the cable, This refers to the distance from the damper installation location to the cable anchor point. As the first preset weight, As the second preset weight, As the third preset weight, As the fourth preset weight, This is the fifth preset weight.

[0016] In this embodiment, traditional semi-active control strategies use only a single physical quantity as feedback input. For the wind-fishery integrated platform, its vibration excitation sources are multi-source and multi-directional, and a single physical quantity cannot fully characterize the structural vibration state. More importantly, traditional control relies entirely on feedback and cannot utilize stress wave propagation information to achieve proactive suppression, resulting in control actions always lagging behind the structural response. This invention pioneers the concept of "equivalent fusion velocity," unifying the dimensions of five heterogeneous physical quantities and fusing them into a single control input. Displacement, rotation angle, force, acceleration, strain, and other physical quantities are converted into equivalent velocity dimensions and linearly superimposed, with weighting coefficients providing a mathematical basis for adaptive priority allocation under different sea conditions. Furthermore, characteristic impedance and fundamental frequency are introduced as normalization factors, allowing the fusion velocity to naturally carry the dynamic characteristics of the tension leg platform's cable system, achieving an integrated design of "control input and structural characteristics," rather than a simple signal superposition.

[0017] In one embodiment of the present invention, the total damping force is determined by the following formula: Fy(I)=τy(I) AMR In the formula, Let v0 be the total damping force, v0 be the velocity smoothing coefficient, and Fy(I) be the Coulomb friction force of the magnetorheological fluid. The current-adjustable equivalent damping coefficient is... The equivalent fusion velocity is given, AMR is the effective shear area of ​​the magnetorheological fluid, and τy(I) is the magnetostrictive yield strength.

[0018] In this embodiment, traditional magnetorheological dampers generally employ the Bingham viscoplastic model or a simplified linear damping model, which theoretically exhibits a sudden force change at the zero velocity point, leading to high-frequency chattering in actual control. This invention introduces a hyperbolic tangent smoothing function tanh( ) into the viscous damping term. Meanwhile, the control input is expanded from a single speed to an equivalent fusion speed, which effectively helps to eliminate force output chattering near zero speed, avoids the "stick-slip" phenomenon of magnetorheological fluid in the low-speed region, and improves control stability; while maintaining the energy dissipation capacity of Coulomb friction, it significantly extends the fatigue life of carbon fiber truss nodes and self-resetting ball joints.

[0019] In one embodiment of the present invention, the current-adjustable equivalent damping coefficient is determined by the following formula: In the formula, Let η be the current-adjustable equivalent damping coefficient, η be the zero-field viscosity of the magnetorheological fluid, L be the damping channel length, and A be the current-adjustable equivalent damping coefficient. p Where D is the effective piston area, D is the cylinder inner diameter, and h is the damping clearance width. It represents the magnetostrictive yield strength.

[0020] In this embodiment, existing magnetorheological damper designs typically use experimental calibration curves or empirical formulas to express the relationship between the damping coefficient and the current. This lacks an explicit theoretical mapping from the damper's geometric parameters and the magnetorheological fluid's constitutive parameters to the current, and often neglects the coupling effect between the zero-field viscosity η and the magnetostrictive yield strength τy(I), resulting in significant errors in the zero-current or weak-current regions. This invention establishes an explicit analytical expression for the equivalent damping coefficient Ceq with respect to the excitation current I. The formula clearly distinguishes between the viscous and magnetostrictive components, achieving a quantitative correlation between the two through geometric parameters. This allows the damper design to be co-optimized with the platform's structural dynamic parameters.

[0021] like Figure 4 As shown, in this embodiment, ① is a fan; ② is a photovoltaic panel; ③ is a tension leg platform; ④ is a breeding cage; ⑤ is a diagonal brace; ⑥ is a multi-directional angle adjuster; ⑦ is a telescopic movable connecting rod; ⑧ is a maintenance passage; ⑨ is a connection and disconnection device; ⑩ is a cross brace; For in-situ lifting system; For dampers; The platform uses an inflatable floating base. The tension leg wind turbine platform employs a single, liftable tension leg platform body, with diagonal braces, horizontal braces, and extended net cage support points forming a multi-directional force system around its perimeter. An in-situ lifting and switching mechanism is installed at the bottom of the platform, and retractable movable connecting rods and connection / disconnection devices are installed between the platform perimeter and the aquaculture net cages. An inflatable floating base is installed under the platform and net cages, with pressure sensors and inflation devices inside. A photovoltaic array is erected above the net cages via multi-directional angle adjusters. A continuous maintenance passage is provided between the tension leg platform, net cages, and photovoltaic arrays. Mechanical attitude locking and load reduction structures are installed at key connections. A sensor network and intelligent power management system are deployed to form an integrated real-time switching and operation and maintenance system for wind turbines, photovoltaics, and aquaculture, enabling the platform to autonomously adjust its lifting, tension, attitude, and cable angles under varying or extreme sea conditions, maintaining the safe and stable operation of the wind turbines, photovoltaics, and net cages.

[0022] like Figure 2 , Figure 3 As shown, this embodiment of the invention provides an in-situ operation control device for a tension leg wind power platform. The device embodiment can be implemented through software, hardware, or a combination of both. From a hardware perspective, as... Figure 2 The diagram shown is a hardware architecture diagram of an electronic device for an in-situ operation control device of a tension leg wind power platform provided in an embodiment of the present invention. (Except for...) Figure 2 In addition to the processor, memory, network interface, and non-volatile memory shown, the electronic device in the embodiment may also include other hardware, such as a forwarding chip responsible for processing packets. Taking software implementation as an example, such as... Figure 3 As shown, a device in a logical sense is formed by the CPU of the electronic device in which it is located reading the corresponding computer program from the non-volatile memory into the memory for execution.

[0023] like Figure 3 As shown in this embodiment, an in-situ operation control device for a tension leg wind turbine platform is provided. The device is applied to the controller of an in-situ operation control system, which includes the controller and the tension leg wind turbine platform. At least three dampers in a ring array are disposed at the bottom of the tension leg wind turbine platform, and the dampers are electrically connected to the controller. The device includes: The acquisition module 300 is used to acquire the real-time displacement, real-time rotation angle, real-time shear force, real-time acceleration and real-time stress wave of the tension leg wind power platform during its in-situ operation. The first data processing module 302 is used to determine the equivalent fusion velocity of the damper piston based on the real-time displacement, the real-time rotation angle, the real-time shear force, the real-time acceleration, and the real-time stress wave. The second data processing module 304 is used to determine the total damping force of the tension leg wind turbine platform based on the equivalent fusion speed. The third data processing module 306 is used to control the relative rotation speed of the connection node between the damper and the tension leg wind power platform based on the total damping force.

[0024] In one embodiment of the present invention, the equivalent fusion speed is determined by the following formula: In the formula, Let x be the equivalent fusion velocity, and x be the damper piston displacement. For the damper piston speed, For the real-time rotation angle The real-time angular velocity, The real-time shear force, For the real-time acceleration, The real-time stress wave, The characteristic impedance of the cable, For the fundamental frequency of the cable, This refers to the distance from the damper installation location to the cable anchor point. As the first preset weight, As the second preset weight, As the third preset weight, As the fourth preset weight, This is the fifth preset weight.

[0025] In one embodiment of the present invention, the total damping force is determined by the following formula: Fy(I)=τy(I) AMR In the formula, Let v0 be the total damping force, v0 be the velocity smoothing coefficient, and Fy(I) be the Coulomb friction force of the magnetorheological fluid. The current-adjustable equivalent damping coefficient. The equivalent fusion velocity is given, AMR is the effective shear area of ​​the magnetorheological fluid, and τy(I) is the magnetostrictive yield strength.

[0026] In one embodiment of the present invention, the current-adjustable equivalent damping coefficient is determined by the following formula: In the formula, Let η be the current-adjustable equivalent damping coefficient, η be the zero-field viscosity of the magnetorheological fluid, L be the damping channel length, and A be the current-adjustable equivalent damping coefficient. p Where D is the effective piston area, D is the cylinder inner diameter, and h is the damping clearance width. It represents the magnetostrictive yield strength.

[0027] It is understood that the structures illustrated in the embodiments of the present invention do not constitute a specific limitation on an in-situ operation control device for a tension leg wind turbine platform. In other embodiments of the present invention, an in-situ operation control device for a tension leg wind turbine platform may include more or fewer components than illustrated, or combine some components, or split some components, or have different component arrangements. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0028] The information interaction and execution process between the modules in the above-mentioned device are based on the same concept as the method embodiment of the present invention, and the specific details can be found in the description of the method embodiment of the present invention, and will not be repeated here.

[0029] This invention also provides an electronic device, including a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, it implements an in-situ operation control method for a tension leg wind power platform according to any embodiment of this invention.

[0030] This invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, causes the processor to perform an in-situ operation control method for a tension leg wind power platform according to any embodiment of this invention.

[0031] Specifically, a system or apparatus equipped with a storage medium may be provided, on which software program code implementing the functions of any of the embodiments described above is stored, and the computer (or CPU or Mpu) of the system or apparatus may read and execute the program code stored in the storage medium.

[0032] In this case, the program code read from the storage medium can itself implement the function of any of the above embodiments, and therefore the program code and the storage medium storing the program code constitute part of the present invention.

[0033] Examples of storage media used to provide program code include floppy disks, hard disks, magneto-optical disks, optical disks (such as Cd-ROM, Cd-R, Cd-Rw, DVD-ROM, DVD-Ram, DVD-Rw, DVD+Rw), magnetic tapes, non-volatile memory cards, and ROMs. Alternatively, program code can be downloaded from a server computer via a communication network.

[0034] Furthermore, it should be clear that not only can the program code read by the computer be executed, but also the operating system or other components operating on the computer can be instructed based on the program code to perform some or all of the actual operations, thereby realizing the function of any of the embodiments described above.

[0035] Furthermore, it is understood that the program code read from the storage medium is written to the memory set in the expansion board inserted into the computer or to the memory set in the expansion module connected to the computer. Then, based on the instructions of the program code, the CPU or other device installed on the expansion board or expansion module executes some and all of the actual operations, thereby realizing the function of any of the embodiments described above.

[0036] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus.

[0037] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media that can store program code, such as ROM, RAM, magnetic disk, or optical disk.

[0038] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for in-situ operation control of a tension leg wind turbine platform, characterized in that, The method is applied to the controller of an in-situ operation control system, the in-situ operation control system including the controller and a tension leg wind turbine platform; the bottom of the tension leg wind turbine platform is provided with at least three annular array dampers, the dampers are electrically connected to the controller, including: Acquire real-time displacement, rotation angle, shear force, acceleration, and stress wave of the tension leg wind turbine during its in-situ operation. Based on the real-time displacement, the real-time rotation angle, the real-time shear force, the real-time acceleration, and the real-time stress wave, the equivalent fusion velocity of the damper piston is determined. Based on the equivalent fusion velocity, the total damping force of the tension leg wind turbine platform is determined; Based on the total damping force, the relative rotation speed of the connection node between the damper and the tension leg wind turbine platform is controlled.

2. The method according to claim 1, characterized in that, The equivalent fusion speed is determined by the following formula: In the formula, Let x be the equivalent fusion velocity, and x be the damper piston displacement. For the damper piston speed, For the real-time rotation angle The real-time angular velocity, The real-time shear force, For the real-time acceleration, The real-time stress wave, The characteristic impedance of the cable, For the fundamental frequency of the cable, This refers to the distance from the damper installation location to the cable anchor point. As the first preset weight, As the second preset weight, As the third preset weight, As the fourth preset weight, This is the fifth preset weight.

3. The method according to claim 1, characterized in that, The total damping force is determined by the following formula: Fy(I)=τy(I) AMR In the formula, Let v0 be the total damping force, v0 be the velocity smoothing coefficient, and Fy(I) be the Coulomb friction force of the magnetorheological fluid. The current-adjustable equivalent damping coefficient. The equivalent fusion velocity is given, AMR is the effective shear area of ​​the magnetorheological fluid, and τy(I) is the magnetostrictive yield strength.

4. The method according to claim 3, characterized in that, The adjustable current equivalent damping coefficient is determined by the following formula: In the formula, Let η be the current-adjustable equivalent damping coefficient, η be the zero-field viscosity of the magnetorheological fluid, L be the damping channel length, and A be the current-adjustable equivalent damping coefficient. p Where D is the effective piston area, D is the cylinder inner diameter, and h is the damping clearance width. It represents the magnetostrictive yield strength.

5. A tension leg wind turbine platform in-situ operation control device, characterized in that, The device is applied to the controller of an in-situ operation control system, which includes the controller and a tension leg wind turbine platform. At least three dampers in a ring array are disposed at the bottom of the tension leg wind turbine platform, and the dampers are electrically connected to the controller, including: The acquisition module is used to acquire real-time displacement, real-time rotation angle, real-time shear force, real-time acceleration, and real-time stress wave during the in-situ operation of the tension leg wind turbine platform. The first data processing module is used to determine the equivalent fusion velocity of the damper piston based on the real-time displacement, the real-time rotation angle, the real-time shear force, the real-time acceleration, and the real-time stress wave. The second data processing module is used to determine the total damping force of the tension leg wind turbine platform based on the equivalent fusion speed. The third data processing module is used to control the relative rotation speed of the connection node between the damper and the tension leg wind power platform based on the total damping force.

6. The apparatus according to claim 5, characterized in that, The equivalent fusion speed is determined by the following formula: In the formula, Let x be the equivalent fusion velocity, and x be the damper piston displacement. For the damper piston speed, For the real-time rotation angle The real-time angular velocity, The real-time shear force, For the real-time acceleration, The real-time stress wave, The characteristic impedance of the cable, For the fundamental frequency of the cable, This refers to the distance from the damper installation location to the cable anchor point. As the first preset weight, As the second preset weight, As the third preset weight, As the fourth preset weight, This is the fifth preset weight.

7. The apparatus according to claim 5, characterized in that, The total damping force is determined by the following formula: Fy(I)=τy(I) AMR In the formula, Let v0 be the total damping force, v0 be the velocity smoothing coefficient, and Fy(I) be the Coulomb friction force of the magnetorheological fluid. The current-adjustable equivalent damping coefficient. The equivalent fusion velocity is given, AMR is the effective shear area of ​​the magnetorheological fluid, and τy(I) is the magnetostrictive yield strength.

8. The apparatus according to claim 7, characterized in that, The adjustable current equivalent damping coefficient is determined by the following formula: In the formula, Let η be the current-adjustable equivalent damping coefficient, η be the zero-field viscosity of the magnetorheological fluid, L be the damping channel length, and A be the current-adjustable equivalent damping coefficient. p Where D is the effective piston area, D is the cylinder inner diameter, and h is the damping clearance width. It represents the magnetostrictive yield strength.

9. An electronic device, characterized in that, It includes a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the method as described in any one of claims 1-4.

10. A computer-readable storage medium, characterized in that, It stores a computer program that, when executed in a computer, causes the computer to perform the method described in any one of claims 1-4.

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