509 results about "Mooring line" patented technology

A mooring system for a floating offshore wind power platform, a monitoring system, and a monitoring method. The mooring system comprises a static mooring system and a dynamic mooring system. The static mooring system comprises three mooring cable bundles. Upright columns (1) are consistent with the centers of the mooring cable bundles. The dynamic mooring system comprises a power unit, propeller units (4), and a control unit. A group of propeller units (4) is installed below each upright column (1) of the platform, and each group of propeller units (4) comprises one to four propeller units (4). The monitoring system monitors the platform in real time, obtains the real-time motion level and mooring tension of the platform, and on the basis of offset and inclination requirements and mooring tension requirements of the platform in a real-time motion state, calculates the power required by the propeller units (4) for execution. A conventional mooring method is combined with a power positioning system to reduce the load on the mooring cables and reduce the maximum offset and the inclination angle of the platform foundation, benefiting both the efficiency and service life of dynamic cables and wind turbines.

The invention discloses a dual-mode dynamic cooperative control method and system based on pulling of a mooring line. The method comprises the steps that displacement electric signals are collected through double potentiometers; a Z-axis PWM signal is generated based on the displacement electric signal through a PWM signal generator; an XY-axis PWM signal is generated through the included angle difference between an XY rocker on the unmanned aerial vehicle and the mooring line; the Z-axis PWM signal is divided into two paths, one path is transmitted to a capstan electronic speed controller, and the other path is transmitted to the unmanned aerial vehicle and is combined with the X-axis PWM signal and the Y-axis PWM signal to form a three-dimensional control signal; setting a remote control signal and a winch potentiometer signal as well as a three-dimensional control signal and a winch manual signal as a first linkage group and a second linkage group respectively; when the first linkage group is switched on and the second linkage group is switched off, the unmanned aerial vehicle enters a first control mode; and when the second linkage group is switched on and the first linkage group is switched off, the unmanned aerial vehicle enters a second control mode. The method is used for solving the technical problems of single control mode, insufficient man-machine collaboration, poor environmental interference adaptability and limited control precision existing in traditional mooring unmanned aerial vehicle control.

The invention provides a deep sea truss type semi-submersible breeding device, which comprises a centralized control buoyancy chamber, a breeding net cage floating body, a counterweight stand column, a mooring rope, a breeding net cage and a swing arm type floating body assembly, and is characterized in that the centralized control buoyancy chamber is arranged on the water surface, and equipment is arranged in a centralized manner, so that corrosion resistance, insulation, safety and controllability are ensured, and the overall stable load adjusting capability of the breeding net cage is controlled; the labor intensity of operators is reduced, uniform lifting of the culture net cage is accurately kept, the problem of inclination of the culture net cage is avoided, water temperature and oxygen content adjustment is achieved, meanwhile, damage of typhoon, red tide in summer and low temperature in winter to cultured organisms is avoided, the survival rate is increased, production and income are increased, and aquatic products capable of being cultured by the equipment can be increased by adjusting the water depth; the culture net cage can rise and dive to fully develop and utilize the deep sea, and a high-quality scheme is provided for wide culture groups to culture in the deep sea.

The invention provides a floating type annular wave-resistant offshore photovoltaic structure. The floating type annular wave-resistant offshore photovoltaic structure comprises arc-shaped wave-resistant structure units, spring connectors, photovoltaic buoyancy tanks, photovoltaic modules, buoyancy tank mooring cables, mooring cables and pile anchors. The plurality of arc-shaped anti-wave structure units are flexibly and annularly connected through the spring connectors to form a floating type annular anti-wave structure; photovoltaic buoyancy tanks are fully paved in the circular ring of the floating type annular wave-resistant structure in parallel, and a photovoltaic module is fixedly mounted on the surface of each photovoltaic buoyancy tank. The structure main body of the novel floating type annular wave-resistant offshore photovoltaic structure adopts arc-shaped wave-resistant structures made of a high-density polyethylene material, the arc-shaped wave-resistant structures are connected into an integral circular ring through spring connectors, photovoltaic modules in the ring are protected and moored, a plurality of macromolecule buoyancy tank mooring cables are adopted in the ring to be connected with photovoltaic buoyancy tanks, and the photovoltaic buoyancy tanks are connected into a whole. The whole structure has certain flexibility and has the advantages of being small in steel consumption, high in weather resistance, low in building cost, high in wind wave resistance, easy and convenient to construct, good in power generation economical efficiency and the like.

The invention discloses a prediction model-based anchor mooring force prediction method for an immersed tube workboat. According to the method, water area environment characteristics, ship body posture characteristics, anchor mooring parameter characteristics and construction state characteristics are used as key data characteristics for predicting the anchor mooring force of the immersed tube construction ship; according to the method, an anchor cable tension prediction model is constructed, historical data, reduced scale physical model test data, numerical simulation data and short-term test data are subjected to data fusion to form a data set, and the model is trained and verified; and finally, predicting the tension value of each anchor mooring line on line by using the trained anchor mooring line tension prediction model. According to the method, the stress condition of each anchor mooring line can be predicted in real time under multiple working conditions (such as sinking, leveling, steering and self-storage states), and powerful support is provided for accurate positioning and safety control of installation and construction of the immersed tunnel.

The invention discloses a novel floating type converter station platform suitable for deep and far sea, and belongs to the technical field of offshore platforms, the novel floating type converter station platform comprises a floating platform, a buoyancy cabin, a stand column, a water ballast tank and a mooring rope, the floating platform is used for supporting a converter station and related operation equipment, and the floating platform is located on the sea surface; the buoyancy cabins are correspondingly arranged on the bottom surface of the floating platform and provide buoyancy support for the floating platform; the four stand columns are correspondingly connected to the four corners of the floating platform, and the sectional area of the water ballast space is at least two times that of the stand columns. The four water ballast tanks are correspondingly arranged at the bottoms of the stand columns, and the gravity center and buoyancy of the converter station platform are adjusted by controlling injection or drainage of ballast water of the water ballast tanks. The mooring cables comprise a plurality of mooring cables which are correspondingly arranged at the four corners of the floating platform respectively, and the floating platform is fixed to the seabed through multi-point anchoring. The floating type converter station platform can flexibly adapt to the deep and far sea environment, the construction cost and the collapse risk are reduced, and the bearing capacity, the structural strength and the stability of the floating type converter station platform can be improved.

A gravity type variable-length seabed single-point mooring connecting device of a floating fan comprises a floating body with at least two pulley fairlead devices, a single-point anchor arranged on the seabed and connected with a rotatable device, and at least one weight located in water below the floating body. Wherein the heavy block is connected with the single-point anchor through a mooring rope passing through the pulley fair lead. The offshore mooring system is small in seabed coverage area, environment-friendly, high in mooring system efficiency, safer, more reliable, practical and feasible, has a wind indicator function, and can be used for offshore mooring positioning of the floating type wind power platform with the water depth ranging from 50 m to 300 m or even larger than 1500 m.

A combined type shared mooring system of a wave energy device array comprises a wave energy device basic module and a shared mooring module, and the wave energy device basic module comprises a buoy, a main floater, a power generation chamber cabin and a mooring chassis which are arranged in a matched mode; a buoy is arranged above the power generation chamber cabin, the main floater is fixedly connected with the power generation chamber cabin, and a closed space is formed in the main floater and can provide buoyancy for the wave energy device. The buoy reciprocates under the action of waves to drive the wave energy device in the power generation chamber cabin to generate power; the mooring chassis is in a regular hexagon shape, is formed by welding steel frames and is fixedly installed at the bottom of the power generation chamber cabin. The shared mooring module comprises a shared mooring rope, a bottom mooring rope, an anchor chain, an anchoring base station, a buoyancy adjusting oil bag, a shared mooring balancing weight and a bottom mooring balancing weight, wherein the shared mooring balancing weight and the bottom mooring balancing weight are arranged in the middle of the mooring rope.

The invention provides a floating structure anchoring system design analysis method suitable for a shallow water condition, and particularly belongs to the technical field of floating equipment mooring. The method comprises the steps that firstly, the platform deformation energy requirement is calculated according to a platform structure type, and the residual deformation energy of an anchoring line configuration scheme is calculated based on the deformation energy principle; preferably selecting an anchoring scheme with the maximum residual deformation energy; then, based on a numerical method of a viscous flow theory, an overlapping grid method is coupled with a mooring cable dynamic simulation method, the floating structure motion response and the anchoring safety coefficient of the optimal scheme are checked, the layout scheme of the mooring system is determined through the scheme design and safety checking process, the whole design process is scientific and meticulous in logic, and the design efficiency is high. The method is high in performability and has practical engineering application guiding significance.

A mooring device for an offshore wind turbine includes: at least two mooring lines including a first end configured to be attached to a first attachment point of a floating offshore wind turbine platform, and at least three anchoring elements configured to anchor the floating offshore wind turbine to a seabed, each mooring line being flexibly retained through at least one anchoring element, a second end of the mooring lines being attached to an attachment point in order that a first mooring line length extending between the floating offshore wind turbine platform and the anchoring element can vary in function of the forces exerted on the floating offshore wind turbine platform.

The invention discloses a split type suction pile anchoring foundation and an offshore construction method, and relates to the technical field of ocean engineering, and the split type suction pile anchoring foundation comprises a suction pile structure and a buoyancy tank structure; an apron board structure and a lug plate structure are arranged on the side wall of the suction pile structure; a drainage pipeline penetrates through the top of the suction pile structure and communicates with the interior of the suction pile structure and the water suction pump. A balance weight cabin and a ballast tank are arranged in the buoyancy tank structure, and a pressure discharging and loading system is arranged in the ballast tank; the supporting leg structures are arranged at the bottom of the buoyancy tank structure, and the buoyancy tank structure is pressed on the apron board structure through the supporting leg structures; a first eye plate connected with a mooring rope or a mooring chain is arranged on the outer side wall of the buoyancy tank structure. The technical problems that due to the fact that a traditional suction pile anchoring foundation is limited by the dead weight, the depth of penetrating into soil in the soil conditions such as sandy soil is insufficient, enough pressure difference cannot be generated in the closed space formed by the cylinder wall and soil in the space outside the cylinder wall, and the suction barrel reaches the preset installation depth and the designed tensile strength and the designed pulling strength are solved.

A floating power-generation group comprises a floating hub such as a spar buoy that is anchored to subsea foundations by anchor lines. Floating power producer units such as wind turbines are connected electrically and mechanically to the hub. The power producer units are each moored by mooring lines. At least one mooring line extends inwardly toward the hub to effect mechanical connection to the hub and at least one other mooring line extends outwardly toward a subsea foundation. The groups are combined as a set whose hubs are connected electrically to each other via subsea energy storage units. Anchor lines of different groups can share subsea foundations. The storage units comprise pumping machinery to expel water from an elongate storage volume and generating machinery to generate electricity from a flow of water entering the storage volume. The pumping machinery can be in deeper water than the generating machinery.

The utility model relates to the technical field of wharf mooring, in particular to a gravity type wharf mooring connecting device. Comprising a connecting mooring line connecting a wharf mooring line column and a mooring ship, and further comprises a connecting heavy block, the connecting heavy block is connected with a third pulley above the connecting heavy block, the third pulley is arranged in a guide rail in the vertical direction in a sliding mode, the connecting mooring line bypasses the lower surface of the third pulley, and a buffering mechanism is arranged below the connecting heavy block. The wharf mooring device can effectively avoid sudden change of tension in a connecting mooring line, and the risk of wharf mooring failure is reduced.

The invention discloses a wind-fishing mechanism combining floating type fans and an oyster discharge field and a simulation method, and belongs to the technical field of wind power engineering, the wind-fishing mechanism comprises four floating type fans, the floating type fans are distributed in a rectangular shape, anchoring lines are installed at the bottom ends of the floating type fans, and shared mooring lines are arranged between the adjacent floating type fans. According to the method, the four sets of floating type fans are distributed in a rectangular mode, the floating type fans are preliminarily fixed through one set of anchoring lines respectively, then the adjacent floating type fans are reinforced through the shared mooring lines, a rectangle is defined by the adjacent floating type fans, and then the oyster ranks are arranged between the interiors of the floating type fans; and finally, the connecting mechanism is used for connecting the oyster raft with the shared mooring line, so that when the device is used, the material cost, the installation cost and the like of a floating wind power plant mooring / anchoring system are remarkably reduced, and on the other hand, the middle area is used for developing the oyster raft breeding pasture, and the characteristics of intensive sea use and three-dimensional sea use are achieved.

The invention discloses a mooring device with a wave compensation function, which is formed by bilaterally symmetrically arranging a first mooring winch to an Nth mooring winch on a ship deck along a ship side part, all the mooring winches are the same in composition and parameter setting, and the other end of each mooring winch is connected with a fixing anchor through a mooring cable; when the mooring winch on the left side draws the cable, the mooring winch on the right side draws the cable, and vice versa. The mooring device has the function of automatically buffering the impact of waves on the ship body, the ship can automatically return to the initial position under the action of the mooring device after the wave impact is eliminated, passive wave compensation is achieved, the good energy-saving effect is achieved, the moored ship can be in an unattended state for a long time, all mooring winch interfaces are unified, and the mooring effect is good. And engineering installation and implementation are facilitated, and cost reduction is facilitated. The invention further provides a control system and a control method of the mooring device.

A jacket foundation sharing anchoring system for offshore wind and light same-field power generation comprises a plurality of jacket foundations used for supporting a wind driven generator, and the jacket foundations are distributed in an array mode. The jacket foundations are divided into a plurality of groups, the number of each group of jacket foundations is at least three, and the jacket foundations in the same group can define a photovoltaic mounting area for accommodating a floating photovoltaic platform; the guide pipe frame foundation comprises a suction barrel inserted into the seabed, the suction barrel is fixedly and detachably connected with a plurality of mooring cables used for being connected with the floating type photovoltaic platform, and the mooring cables extend into the photovoltaic installation area. According to the jacket foundation sharing anchoring system and anchoring method for offshore wind and light same-field power generation, the floating type photovoltaic platform and the wind driven generator can share the jacket foundation, sharing anchoring is achieved, and the stability of the wind driven generator and the stability of the floating type photovoltaic platform are both improved.

A subsea foundation 16 for anchoring a mooring line 14 comprises a mooring base 20, such as a chain that is simply laid upon the seabed in a straight, curved or looped configuration, hence extending across the seabed 18 substantially parallel to the seabed. The mooring base is then anchored by one or more deadman anchors 22 that are embedded in the seabed soil. For this purpose, one or more links 24 extend through the soil to couple the mooring base to the or each deadman anchor. One or more mooring lines can then be coupled to the mooring base.

An apparatus for securing watercraft against tidal action, wind and weather has an elongate vertical shaft having a top end and a bottom end and a slide block slidably attached to the elongate vertical shaft. The slide block slides between the top end and the bottom end and has a pair of slots therein and an opening positioned between the slots. The slots and opening are configured to allow a mooring line to be secured to the slide block. A top mounting bracket and bottom mounting bracket are attached to the top end and bottom end, respectively, of the elongate vertical shaft. The top and bottom mounting brackets are configured for attachment to mooring structures. The top mounting bracket includes an integral mooring line hook. A compression spring is mounted on the elongate vertical shaft and seated upon the bottom mounting bracket and absorbs the impact of the slide block.

The invention relates to the technical field of ship mooring, and particularly discloses a flywheel energy storage type wharf ship auxiliary mooring system and a control method.The flywheel energy storage type wharf ship auxiliary mooring system comprises an energy storage module, a transmission module, a winch module and an electric control module, the winch module comprises a winch and a mooring cable, one end of the mooring cable is connected with the winch, and the other end of the mooring cable can be connected with a ship so that the ship can be moored; the energy storage module comprises a flywheel, the flywheel has an energy storage state and an energy release state, the energy storage state and the energy release state of the flywheel are switched by the electric control module according to the tension of the mooring line, and under the condition that the tension of the mooring line is too large, namely the ship has the offshore motion trend, the flywheel can absorb the ability of the ship to drive the mooring line to be released by offshore motion. Under the condition that the tension of the mooring line is too small, the flywheel releases energy to drive the winch to wind the mooring line, tensioning of the mooring line is achieved, real-time adjustment of the tension of the mooring line can be achieved, the mooring requirement of a ship is better met, meanwhile, the flywheel is used for storing and releasing energy, and energy consumption can be greatly reduced.

The invention discloses a high-precision floating system mooring adjusting device based on tension online monitoring, and relates to the technical field of floating type wind power platform mooring connection. An upper hanging frame is connected with a welding back plate through an upper rotating shaft pin and connected with a lower hanging frame through a lower rotating shaft pin, and a locking mechanism is arranged in the lower hanging frame; the tooth column penetrates through the lower lifting frame and the upper lifting frame and is locked through a locking mechanism, oil cylinders are symmetrically arranged on the two sides of the lower lifting frame, the locking mechanism integrally moves up and down through the oil cylinders, a tension monitoring mechanism is arranged at the lower end of the tooth column, and loads are monitored and measured in real time through far-end software. The tension leg wind power platform mooring line tie-back and tensioning device is high in adjustment precision and short in operation period, has the functions of reliable connection, mooring line length adjustment, self-locking and self-tightening, reverse loosening and load detection, can adjust the length of the mooring line at high precision, simplifies the tie-back and tensioning installation process of the tension leg wind power platform mooring line, and reduces the mooring and installation cost of the tension leg wind power platform.

The present invention discloses an offshore floating wind power and photovoltaic centralized mooring system, comprising: a floating wind turbine, a floating wind turbine mooring system, a floating photovoltaic array, and a floating photovoltaic mooring system. The floating wind turbine mooring system includes a mooring cable with one end connected to the floating wind turbine, and the other end of the mooring cable is connected to an anchor point; the floating photovoltaic mooring system includes an upper mooring cable, a lower mooring cable, and a rigid rod. One end of the upper mooring cable is connected to the floating photovoltaic array, the other end of the upper mooring cable is connected to the rigid rod, one end of the lower mooring cable is connected to the rigid rod, and the other end of the lower mooring cable is connected to the anchor point. The present invention also discloses a design method for an offshore floating wind power and photovoltaic centralized mooring system. The present invention reduces the construction difficulty, improves the construction efficiency, enhances the side structure strength of the floating photovoltaic array, and increases the installed capacity of the floating offshore photovoltaic.

The invention relates to the technical field of floating type platform mooring systems, and discloses a self-adaptive mooring cable, a manufacturing method and a self-adaptive mooring method.The self-adaptive mooring cable sequentially comprises a center main bearing layer, a middle protection layer and an outer self-adaptive regulation and control layer from inside to outside. The central main supporting layer is composed of synthetic fiber cables with high tensile strength; the middle protective layer wraps the periphery of the main bearing layer, is formed by weaving fiber materials and is used for preventing external media from invading; the outer-layer self-adaptive regulation and control layer covers the periphery of the protective layer and is woven into a net-shaped structure by shape memory alloy wires; the shape memory alloy woven mesh is configured to be capable of dynamically adjusting the overall rigidity of the mooring cable through thermoelastic martensite phase transformation based on environment temperature changes, and creep deformation of the synthetic fiber cable is slowed down. Through the synergistic effect of the three-layer structure, the structural stability and performance consistency of the mooring cable in long-term use are guaranteed.

Two types of single shared anchor mooring systems and installation method for station-keeping of floating offshore wind turbines are disclosed. The first type has one anchor on the seabed, a plurality of mooring lines, three-dimensional fairlead devices, and pendent gravity units. Each of the mooring lines runs from a first end attached to the corresponding pendent gravity unit suspended in mid-water vertically upward through the corresponding three-dimensional fairlead device attached to the floater and extends downward to a second end attached to the anchor. The mooring line has a constant tension equal to the submerged weight of the pendent gravity unit. The second type has one anchor on the seabed, one pendent gravity unit suspended in mid-water above the anchor, a plurality of mooring fairleads and interconnected mooring lines. Each of the mooring lines runs upward from a first end connected to the anchor through the mooring fairlead attached to the floater and extends downward to a second end connected to the pendent gravity unit. The mooring systems are secured to the floater at quayside, towed-out with the floater, and installed by lowering the anchor and the pendent gravity units under gravity at the offshore site.

A method of transporting a first vessel having wind turbine components to an offshore installation vessel. The method includes (i) securing the first vessel to a second vessel using a first tow line attached to a front end (or bow) of the first vessel, and (ii) securing the first vessel to a third vessel using a second tow line attached to a back end (or stern) of the first vessel. The method further includes transporting the first vessel to the offshore installation vessel using the second vessel and the third vessel secured to the first vessel via the first and second tow lines, respectively. The method also includes securing the first vessel to the offshore installation vessel. The first vessel can include one or more fender walls. The first vessel can be secured to the offshore installation vessel using one or more mooring lines.

The invention provides a breakwater floating body, a breakwater floating body structure optimization method and device and a storage medium, and the breakwater floating body comprises a first floating body which is fixed through a mooring rope and floats in the ocean; the second floating body is connected with the first floating body, open holes are formed in the surface of the second floating body, and the second floating body is hollow, so that the second floating body is communicated with seawater; the multiple damping parts are evenly distributed on the periphery of the second floating body at equal intervals, and each damping part is connected with the surface of the second floating body through a connecting piece; the damping parts are hollow, and the upper surfaces and the lower surfaces of the damping parts are provided with open holes to restrain the heaving motion of seawater. The structural parameters of the floating body of the damping component are iteratively optimized through the structural optimization method of the breakwater floating body, so that the stability and the wave resistance effect of the whole breakwater floating body are improved, the problem that potential risks are possibly caused by insufficient stability of a traditional floating breakwater is solved, and the safety of ships, coast and offshore structures is greatly improved.

Offshore energy production facility The present disclosure relates to an offshore energy production facility (100) comprising a floating platform (110), an energy production system mounted on the platform and preferably comprising at least one wind turbine (120), a mooring line (130, 140) connected to the platform, and a system for generating and / or storing energy (G2, G1), for example electrical energy, from a mechanical tension experienced by the mooring line. This constitutes an improved offshore energy production facility. [Fig 1]

The invention relates to the technical field of offshore mooring, and discloses a quick pile foundation connecting device which comprises a base, a connecting rod, a connecting rod and a connecting rod. The locking mechanism comprises a locking part and a contact part arranged on the locking part, the locking part is slidably connected with the base, and a clamping groove is formed in the locking part; the connecting mechanism comprises a connecting part and a limiting part arranged on the connecting part, the connecting part is used for being connected with a mooring cable, clamping teeth are arranged on the connecting part, and the limiting part can be switched between an unfolded state and a folded state; wherein when the limiting part is in the contraction state, the limiting part can penetrate through the locking part and the contact part, and when the limiting part is in the unfolding state, the mooring rope pulls the limiting part to move, so that the limiting part abuts against the contact part and pushes the locking part to slide along the base, and the clamping groove is meshed with the clamping teeth. Quick connection and disassembly of the mooring rope and the pile foundation are achieved, the construction efficiency can be remarkably improved, and the labor cost is reduced.

The invention discloses a tension-leg-like mooring system suitable for a shallow-water-depth floating structure. The tension-leg-like mooring system comprises an anchor foundation, a mooring cable, a limiting spring and a suspension weight. The anchor foundation is fixed to the seabed and used for resisting horizontal and vertical mooring force. Three stand columns are arranged on the periphery of the floating body, balance weight cabins are arranged in the stand columns, overhanging weights are arranged in the balance weight cabins in the vertical direction in a sliding mode, limiting springs are installed at the top ends and the bottom ends in the balance weight cabins, one end of a mooring rope is connected with the anchor foundation, and the other end of the mooring rope is connected with the overhanging weights. The phenomenon that the mooring tension is sharply increased due to wave frequency motion of the floating body is avoided, and the problem that the catenary mooring platform with the low pretension design deviates too large is solved.

The utility model belongs to the technical field of design and manufacture of offshore engineering equipment, and discloses a floating breakwater with a dangling structure, which comprises a floating breakwater main body structure with the dangling structure, a mooring system and a flexible connecting system. A main body structure of the floating breakwater with the dangling structure comprises a square box body, a dangling anchor chain, a dangling ball body, a connecting ring and a hanging ring connecting buckle. The mooring system is mainly composed of a mooring cable and an anchorage sinking block. The flexible connecting system is composed of a plurality of flexible connecting shafts. The floating breakwater can well solve the problems that the medium-long wave absorbing capacity of an existing floating breakwater is insufficient, and the wave absorbing performance is limited by the wave period. According to the research result, the optimized wave attenuation mechanism can effectively overcome the technical defects of a traditional floating breakwater, the wave energy of the specific wave band is efficiently attenuated, and the safety of open-sea structural engineering and offshore operation is improved.

The invention discloses a hydraulic mooring device constant tension control method and system for ship mooring. The method comprises the steps that historical external disturbing force data of a hydraulic mooring device and a ship mooring rope are obtained; according to the historical external disturbing force data, training to obtain a disturbing force prediction model, and according to the disturbing force prediction model, obtaining an external disturbing force after the control valve is adjusted for a preset delay time; and inputting the external disturbing force into a preset fuzzy PID controller to obtain the opening degree of a control valve, and performing constant tension control on the hydraulic mooring device according to the opening degree of the control valve. The opening degree of the control valve of the hydraulic mooring device can be adjusted according to external disturbance force, so that tension fluctuation of a ship mooring rope is reduced, the situation of economic loss caused by breakage of the mooring rope or collision between a ship and a wharf during mooring is reduced, the mooring safety and reliability are improved, and the hydraulic mooring device can be widely applied to the technical field of ship safety.