CN114735140A - Method, equipment and medium for compensating disturbance speed of wind power pile boarding trestle - Google Patents

Abstract

The present invention provides a method, equipment and medium for compensating for interference speed of a wind power pile boarding trestle. The invention combines the interference speed (vessel motion speed) compensation method with the interference position compensation, improves the rapidity and compensation effect of the active motion compensation trestle, improves the use experience of the trestle overlapping process, and improves the wind power pile in bad weather. improve the accessibility and increase the safety of boarding personnel.

Description

Interference speed compensation method, equipment and medium for wind power pile boarding trestle

technical field

The invention belongs to the technical field of offshore wind power boarding trestle with wave compensation function, and particularly relates to a disturbance speed compensation method, equipment and medium for a wind power pile boarding trestle. Specifically, it is a control method for compensating the motion speed of the ship to improve the motion compensation accuracy and realize the smooth lap of the trestle to the offshore wind power pile under high sea conditions.

Background technique

Wind energy is clean and renewable energy. Compared with onshore wind power, offshore wind power has the advantages of not occupying land area and less impact on birds. In addition, offshore wind power has the advantages of less quiet wind period and large wind power. my country has abundant wind energy in both offshore and COSCO seas. The development of offshore wind power is of great significance to optimizing my country's energy structure.

However, installation and maintenance costs for offshore wind are higher than for onshore wind. In severe weather conditions, the violent shaking of the operation and maintenance vessel makes it difficult and dangerous for the operation and maintenance personnel to board the wind power piles. Active Motion Compensation (AMC) trestle bridge can keep the end of the trestle stationary relative to the geodetic coordinate system (wind power pile fixed to the ground) or reduce the influence of waves on the motion of the ship by compensating the ship motion of certain degrees of freedom. Improve accessibility to wind farms in bad weather.

The three-degree-of-freedom AMC trestle is shown in Figure 1, which is mainly composed of (B1) base, (B2) support, (B3) pitch bridge, (B4) telescopic bridge and (B5) insert plate at the end of the telescopic bridge. When the insert board is inserted into the foundation ladder of the wind turbine platform, the maintenance personnel reach the ladder through the support, pitch bridge and telescopic bridge, and board the offshore wind turbine platform. According to the requirements of safety regulations, only when the distance between the operation and maintenance vessel and the ladder of the offshore wind turbine is not more than half the step length of an adult can you board the ladder of the wind power platform. However, the influence of sea tides and waves will cause a certain distance between the ship and the ladder of the offshore wind power platform in the vertical and horizontal directions, and the distance will change with the shaking of the ship.

The motion measurement unit installed on the ship will measure the motion of the ship's six degrees of freedom, and compensate the ship's yaw, pitch and sag through (Y1) slewing hydraulic cylinder, (Y2) pitching hydraulic cylinder and (Y3) telescopic hydraulic cylinder. The oscillating motion results in a change in the displacement of the (B5) insert plate relative to the ladder. At the same time, the entire trestle can also maintain a relatively stable state.

When the offshore wind and waves are very small, the operator can turn off the active motion compensation function, and control the proportional valve group to control the movement speed of the slewing, pitching and telescopic hydraulic cylinder piston rod through the operating handle, which can smoothly make the insertion plate at the end of the telescopic bridge. Insert the ladder to complete the establishment of the personnel passage. In the case of strong wind and waves, the insertion plate at the end of the telescopic bridge will magnify the shaking of the ship, making the process of inserting the ladder difficult. At this time, it is necessary to turn on the active compensation function to eliminate or reduce the influence of ship shaking on the insertion plate. When the operating handle does not move, the coordinates of the end of the insertion plate remain relatively static in the geodetic coordinate system or reduce the influence of ship motion. In order to complete the active motion compensation, it is necessary to use the Motion Reference Unit (MRU) to measure the motion of the ship in six degrees of freedom, and then calculate the compensation amount of the trestle in the rotational degrees of freedom, pitching degrees of freedom and telescopic degrees of freedom through the transformation matrix. , to compensate for the motion of the ship in the yaw, pitch and heave directions. In order to keep the insertion plate still relative to the geodetic coordinate system, the active motion compensation trestle needs to compensate for the change of the position of the insertion plate caused by the movement of the ship. Therefore, the control of the trestle in the three degrees of freedom of rotation, pitch and telescopic is a position servo system. According to The position error controls the extension of the hydraulic cylinder piston rod. However, this compensation method mainly has the following problems in the process of active motion compensation:

(1) Due to the randomness of ship motion, the sampling delay of MRU, the limitation of hydraulic cylinder movement speed, the mechanical clearance of trestle installation, etc., during the active motion compensation trestle work process, for relatively high-frequency ship motion, only the measured Compensation for ship position will lead to tracking lag and poor compensation effect.

(2) In the process of inserting the operation handle to drive the insert plate into the basic ladder of the wind turbine platform under high sea conditions, only the speed control of the operation handle and the position control of active motion compensation are simply superimposed, and the operation when the compensation function is turned off under calm sea cannot be obtained. The experience of the handle process is consistent, and the operation is not smooth.

SUMMARY OF THE INVENTION

The purpose of the present invention is to solve the problems in the prior art, and proposes a method, equipment and medium for compensating the disturbance speed of a wind power pile boarding trestle. The invention combines the interference speed (vessel motion speed) compensation method with the interference position compensation, improves the rapidity and compensation effect of the active motion compensation trestle, improves the use experience of the trestle overlapping process, and improves the wind power pile in bad weather. improve the accessibility and increase the safety of boarding personnel.

The present invention is achieved through the following technical solutions, and the present invention proposes a method for compensating for the disturbance speed of a wind power pile boarding trestle, the method specifically includes the following steps:

Step 1. Set the position of the insertion board as x=[x ₁ , x ₂ , x ₃ ] ^T , where x ₁ , x ₂ , and x ₃ are the coordinate values of the insertion board in the three coordinate axes of the geodetic coordinate system O-XYZ, respectively, Then the coordinate value is expressed as:

In the formula, A, B, C and D are system matrices, u(k)=[r(k), p(k), s(k)] ^T is the slewing value, pitch value and telescopic value of the trestle, respectively; d (k)=[r _s (k), p _s (k), h _s (k)] ^T are the yaw value, pitch value and heave value of the ship respectively, and the output value y=[x ₁ , x ₂ ,x ₃ ] ^T , k represents time series;

Step 2. Change equation (1) into a differential form, set the objective function J(k) of the replacement position and velocity tracking error, and determine the increment of the control amount through the objective function;

Step 3. Obtain the increment of ship motion disturbance through the expanded state observer ESO;

Step 4. The final control amount is obtained by synthesizing the control amount increment and the disturbance amount increment;

此时的控制量用来补偿船舶运动导致的插入板坐标的变化；当操作手柄动作时，插入板的目标速度

与操作手柄的输出电压成比例，x_r(k)为

的积分，以跟踪手柄的操作。Step 5. Denote the system state when the AMC function is turned on as x(0). When the operating handle does not move, the target position of the insertion board is _xr (k)=x(0), and the target speed of the insertion board is

The control amount at this time is used to compensate for the change of the coordinates of the insertion plate caused by the movement of the ship; when the operation handle moves, the target speed of the insertion plate

Proportional to the output voltage of the joystick, x _r (k) is

Integral to track the operation of the handle.

Further, transform equation (1) into differential form:

分别为状态量、控制量和干扰量的增量；系统矩阵中

O为零矩阵，I为单位矩阵。In the formula,

are the increments of state quantity, control quantity and disturbance quantity respectively; in the system matrix

O is a zero matrix and I is an identity matrix.

Further, considering the amplitude constraint and velocity constraint of the control variable u(k), the increment of the control variable is obtained by solving the following objective function:

代表状态误差，x_r(k)为插入板的目标位置，x^d(k)为x(k)的微分即插入板的速度，因此误差中既包含了位置误差也包含了速度误差；

为控制量增量，增加的自由度

用来模拟干扰量的增量。In the formula, N _p is the prediction time domain, matrices Q and S are semi-positive definite matrices, matrices R and P are positive definite matrices,

represents the state error, x _r (k) is the target position of the inserted board, x ^d (k) is the differential of x (k), that is, the speed of the inserted board, so the error includes both the position error and the speed error;

To control the increment, the added degrees of freedom

Increment used to simulate the amount of disturbance.

Further, minimize the objective function J(k) to obtain the following control sequence:

Therefore, solving the objective function problem at each sampling period can be transformed into the following quadratic programming:

Subject to Lη≤b

In the formula, L and b are used to limit the amplitude and speed of the control variable; the matrices F and H are defined as follows and obtained by real-time calculation:

可表示为：state

can be expressed as:

同时，也可以获得优化的干扰值增量

因此控制量增量可以通过下式获得：Further, using formula (5) to optimize η ^* in real time, the optimized value of the control amount increment can be obtained

At the same time, an optimized disturbance value increment can also be obtained

Therefore, the control amount increment can be obtained by the following formula:

其通过

获得；最小化误差E(k)，μ(k)满足where μ(k) is used to compensate for interference

its passed

Obtain; minimize the error E(k), μ(k) satisfies

是干扰的估计值，同时μ(k)通过下式计算：In the formula,

is an estimate of the interference, while μ(k) is calculated by:

的估计值

采用如下的扩张状态观测器ESO 来观测干扰：Further, in order to obtain the disturbance amount increment

estimated value of

The disturbance is observed using the extended state observer ESO as follows:

代表*的估计值，

代表x微分的估计值，

代表x二次微分的估计值；T_s为采样周期，θ是观测器增益，k_o1,k_o2,k_o3和k_o4为观测器系数；函数g_i(i＝1,2,3,4) 表示为：In the formula,

represents the estimated value of *,

represents the estimated value of the derivative of x,

represents the estimated value of the second derivative of x; T _s is the sampling period, θ is the observer gain, k _o1 , k _o2 , k _o3 and k _o4 are the observer coefficients; the function _gi (i=1,2,3,4 ) Expressed as:

并通过式(9)计算μ(k)；进而优化的控制变量为In the formula, α ₁ =γ,α ₂ =2γ-1,α ₃ =3γ-2,α ₄ =4γ-3,γ∈(3/4,1); K is a positive definite matrix; Estimate of d(k), get

And calculate μ(k) by formula (9); then the optimized control variable is

即Further, according to the hydraulic cylinder stroke and mechanical structure, the maximum and minimum values of the control variables are determined to be u _sU and u _sL respectively; the maximum and minimum values of the control variable increments determined by the proportional valve flow are respectively:

which is

μ(k) in equation (9) can be re-described as:

因此控制量的幅值约束可采用如下不等式表示：In the formula,

Therefore, the amplitude constraint of the control variable can be expressed by the following inequality:

In the formula,

Similarly, the constraint on the increment of the control quantity can be expressed by the following inequality:

和

分别为

和

的增量；In the formula,

and

respectively

and

increment;

The present invention provides an electronic device comprising a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the processor implements the steps of the method for compensating for the disturbance speed of a wind power pile boarding trestle.

The present invention provides a computer-readable storage medium for storing computer instructions, and when the computer instructions are executed by a processor, the steps of the method for compensating for the disturbance speed of a wind power pile boarding trestle are realized.

The beneficial effects of the present invention are:

(1) The differential form of the trestle model is adopted, and the tracking speed error is added to the error, which improves the rapidity and dynamic compensation accuracy of active motion compensation;

(2) The value proportional to the output voltage of the operating handle is used as the tracking speed, and the integral of the tracking speed is used as the target position to improve the operating experience of the handle;

(3) The speed limit of the hydraulic cylinder movement and the position constraint of the trestle bridge are considered in the control quantity solution control, so that the obtained control quantity is a physically feasible control, avoiding the emergency braking caused by the limit switch to limit the movement amplitude, ensuring that the The smoothness of motion at the extreme position.

Description of drawings

Figure 1 is a schematic diagram of the composition of the AMC trestle; Y1 rotary hydraulic cylinder; Y2 pitching hydraulic cylinder; Y3 telescopic hydraulic cylinder; B1 base; B2 support; B3 pitching bridge; B4 telescopic bridge; B5 insert plate;

Figure 2 is a schematic diagram of the trestle lapped wind power pile; wherein B4 telescopic bridge; B5 insert plate; C1 wind turbine platform; C2 climbing ladder;

Figure 3 is a functional block diagram of the interference speed compensation.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

In conjunction with Fig. 1-Fig. 3, the present invention proposes a method for compensating for the interference speed of a wind power pile boarding trestle. The lap joint process of the trestle is shown in Fig. 2, and the insert plate is inserted into the foundation ladder of the wind turbine platform to complete the establishment of the personnel passage; The method specifically includes the following steps:

Step 1. Set the position of the insertion board as x=[x ₁ , x ₂ , x ₃ ] ^T , where x ₁ , x ₂ , and x ₃ are the coordinate values of the insertion board in the three coordinate axes of the geodetic coordinate system O-XYZ, respectively, Then the coordinate value is expressed as:

In the formula, A, B, C and D are system matrices, u(k)=[r(k), p(k), s(k)] ^T is the slewing value, pitch value and telescopic value of the trestle, respectively; d (k)=[r _s (k), p _s (k), h _s (k)] ^T are the yaw value, pitch value and heave value of the ship respectively, and the output value y=[x ₁ , x ₂ ,x ₃ ] ^T , k represents time series;

Step 2. In order to deal with the rapidly changing ship motion, the equation (1) is changed into a differential form, the objective function J(k) of the replacement position and speed tracking error is set, and the increment of the control amount is determined by the objective function;

Step 3. Obtain the increment of ship motion disturbance through the expanded state observer ESO;

Step 4. The final control amount is obtained by synthesizing the control amount increment and the disturbance amount increment;

此时的控制量用来补偿船舶运动导致的插入板坐标的变化，误差中包含了速度误差；当操作手柄动作时，插入板的目标速度

与操作手柄的输出电压成比例，x_r(k)为

的积分，以跟踪手柄的操作。当操作手柄时，式(3)中插入板的目标位置

(数字控制系统中以累加和代替积分值)，插入板末端的目标速度

(v_r为操作手柄三个自由度的输出电压，k_v为比例系数)。此时的控制量除了用来补偿船舶运动导致的插入板坐标的变化，还同时响应手柄的操作。通过调整k_v获得与通过v_r直接控制比例阀开口一致的速度，使手柄操作更加平顺，改善开启AMC功能后手柄的操作体验。Step 5. Denote the system state when the AMC function is turned on as x(0). When the operating handle does not move, the target position of the insertion board is _xr (k)=x(0), and the target speed of the insertion board is

The control value at this time is used to compensate for the change of the coordinates of the insertion plate caused by the movement of the ship, and the error includes the speed error; when the operation handle moves, the target speed of the insertion plate

Proportional to the output voltage of the joystick, x _r (k) is

Integral to track the operation of the handle. When the handle is operated, the target position of the insertion plate in formula (3)

(In the digital control system, the accumulated sum replaces the integral value), insert the target speed of the end of the board

(v _r is the output voltage of the three degrees of freedom of the operating handle, and k _v is the proportional coefficient). The control amount at this time is not only used to compensate the change of the coordinates of the insertion plate caused by the movement of the ship, but also responds to the operation of the handle. By adjusting k _v to obtain the same speed as directly controlling the opening of the proportional valve through v _r , the operation of the handle is smoother and the operation experience of the handle after the AMC function is turned on is improved.

Transform equation (1) into differential form:

分别为状态量、控制量和干扰量的增量；系统矩阵中

O为零矩阵，I为单位矩阵。In the formula,

are the increments of state quantity, control quantity and disturbance quantity respectively; in the system matrix

O is a zero matrix and I is an identity matrix.

Considering the amplitude constraint and velocity constraint of the control variable u(k), the increment of the control variable is obtained by solving the following objective function:

代表状态误差，x_r(k)为插入板的目标位置，x^d(k)为x(k)的微分即插入板的速度，因此误差中既包含了位置误差也包含了速度误差；

为控制量增量，增加的自由度

用来模拟干扰量的增量。In the formula, N _p is the prediction time domain, matrices Q and S are semi-positive definite matrices, matrices R and P are positive definite matrices,

represents the state error, x _r (k) is the target position of the inserted board, x ^d (k) is the differential of x (k), that is, the speed of the inserted board, so the error includes both the position error and the speed error;

To control the increment, the added degrees of freedom

Increment used to simulate the amount of disturbance.

The velocity error and the increment of disturbance amount (equivalent to disturbance velocity) are included in the objective function, so it can reflect the rapidly changing ship motion.

Minimizing the objective function J(k) obtains the following control sequence:

Therefore, solving the objective function problem at each sampling period can be transformed into the following quadratic programming:

Subject to Lη≤b

In the formula, L and b are used to limit the amplitude and speed of the control variable; the matrices F and H are defined as follows and obtained by real-time calculation:

可表示为：state

can be expressed as:

同时，也可以获得优化的干扰值增量

因此控制量增量可以通过下式获得：Using formula (5) to optimize η ^* in real time, the optimized value of the control amount increment can be obtained

At the same time, an optimized disturbance value increment can also be obtained

Therefore, the control amount increment can be obtained by the following formula:

其通过

获得；最小化误差E(k)，μ(k)满足where μ(k) is used to compensate for interference

its passed

Obtain; minimize the error E(k), μ(k) satisfies

是干扰的估计值，同时μ(k)通过下式计算：In the formula,

is an estimate of the interference, while μ(k) is calculated by:

的估计值

采用如下的扩张状态观测器ESO来观测干扰：In order to obtain the amount of disturbance increment

estimated value of

The disturbance is observed using the extended state observer ESO as follows:

代表*的估计值，

代表x微分的估计值，

代表x二次微分的估计值；T_s为采样周期，θ是观测器增益，k_o1,k_o2,k_o3和k_o4为观测器系数；函数g_i(i＝1,2,3,4) 表示为：In the formula,

represents the estimated value of *,

represents the estimated value of the derivative of x,

represents the estimated value of the second derivative of x; T _s is the sampling period, θ is the observer gain, k _o1 , k _o2 , k _o3 and k _o4 are the observer coefficients; the function _gi (i=1,2,3,4 ) Expressed as:

并通过式(9)计算μ(k)；进而优化的控制变量为In the formula, α ₁ =γ,α ₂ =2γ-1,α ₃ =3γ-2,α ₄ =4γ-3,γ∈(3/4,1); K is a positive definite matrix; Estimate of d(k), get

And calculate μ(k) by formula (9); then the optimized control variable is

即According to the hydraulic cylinder stroke and mechanical structure, the maximum and minimum values of the control variables are determined as u _sU and u _sL respectively; the maximum and minimum values of the control variable increments determined by the proportional valve flow are respectively

which is

μ(k) in equation (9) can be re-described as:

因此控制量的幅值约束可采用如下不等式表示：In the formula,

Therefore, the amplitude constraint of the control variable can be expressed by the following inequality:

In the formula,

Similarly, the constraint on the increment of the control quantity can be expressed by the following inequality:

和

分别为

和

的增量；In the formula,

and

respectively

and

increment;

As shown in FIG. 3 , the system of the active motion compensation method based on interference speed compensation of the present invention includes an operation handle integration unit, a quadratic planning unit, a control quantity calculation unit, an expansion state observer unit, a trestle controlled object and an MRU.

The present invention provides an electronic device comprising a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the processor implements the steps of the method for compensating for the disturbance speed of a wind power pile boarding trestle.

The present invention provides a computer-readable storage medium for storing computer instructions, and when the computer instructions are executed by a processor, the steps of the method for compensating for the disturbance speed of a wind power pile boarding trestle are realized.

The interference speed compensation method, equipment and medium for a wind power pile boarding trestle proposed by the present invention have been described above in detail. In this paper, specific examples are used to illustrate the principles and implementations of the present invention. The description of the above embodiments It is only used to help understand the method of the present invention and its core idea; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific embodiments and application scope. In summary, The contents of this specification should not be construed as limiting the present invention.

Claims (9)

1. The method for compensating the disturbance speed of the wind power pile boarding trestle is characterized by comprising the following steps of:

step 1, setting the position of an insertion plate as x ═ x₁,x₂,x₃]^T，x₁,x₂,x₃The coordinate values of the insert plate in three coordinate axes of the geodetic coordinate system O-XYZ are respectively expressed as follows:

wherein A, B, C and D are system matrices, u (k) ═ r (k), p (k), s (k)]^TRespectively a rotation value, a pitching value and a stretching value of the trestle; d (k) ═ r_s(k),p_s(k),h_s(k)]^TRespectively the ship's yaw value, pitch value and heave value, and the output value y ═ x₁,x₂,x₃]^TK represents a time series;

step 2, changing the equation (1) into a differential form, setting a target function J (k) for converting the tracking errors of the position and the speed, and determining the increment of the control quantity through the target function;

step 3, obtaining the increment of ship motion interference through an Extended State Observer (ESO);

step 4, synthesizing the control quantity increment and the interference quantity increment to obtain a final control quantity;

step 5, recording the system state at the moment when the AMC function is started as x (0), and inserting the target position x of the board when the operating handle is not operated_r(k) X (0), target speed of insert plate

The control quantity at this time is used for compensating the change of the coordinates of the inserting plate caused by the movement of the ship; inserting the target speed of the plate when the operating handle is actuated

Proportional to the output voltage of the operating handle, x_r(k) Is composed of

To track the operation of the handle.

2. The method of claim 1, wherein equation (1) is transformed into a differential form:

in the formula (I), the compound is shown in the specification,

respectively increment of the state quantity, the control quantity and the interference quantity; in the system matrix

O is a zero matrix and I is an identity matrix.

3. A method according to claim 2, characterized in that the increments of the control variables are obtained by solving the following objective function, taking into account the magnitude constraint and the velocity constraint of the control variables u (k):

in the formula, N_pFor predicting the time domain, matrices Q and S are semi-positive definite matrices, matrices R and P are positive definite matrices,

representing a state error, x_r(k) For inserting into the target position of the plate, x^d(k) The differential of x (k), i.e., the velocity of the insert plate, thus the error includes both position and velocity errors;

increased degree of freedom for controlled quantity increments

To simulate the increase in the amount of interference.

4. A method according to claim 3, characterized in that minimizing the objective function j (k) results in a control sequence as follows:

therefore, solving the objective function problem at each sampling period can be converted to a quadratic programming as follows:

Subject to Lη≤b

wherein L and b are used to limit the magnitude and speed of the control quantity; the matrices F and H are defined as follows and are obtained by real-time calculation:

status of state

Can be expressed as:

5. the method of claim 4, wherein η is optimized in real time using equation (5)^*An optimized value of the control quantity increment can be obtained

At the same time, optimized interference value increment can be obtained

The control amount increment can thus be obtained by the following equation:

in which mu (k) is used to compensate for interference

Which pass through

Obtaining; minimize error E (k), μ (k) satisfies

In the formula (I), the compound is shown in the specification,

is an estimate of interference, while μ (k) is calculated by:

6. method according to claim 5, characterized in that, in order to obtain the interference increment

Is estimated value of

The disturbance is observed using the extended state observer ESO as follows:

in the formula (I), the compound is shown in the specification,

an estimate of the value of x is represented,

representing the estimated value of the differential of x,

represents an estimate of x second derivative; t is a unit of_sFor the sampling period, θ is the observer gain, k_o1,k_o2,k_o3And k_o4Is the observer coefficient; function g_i(i ═ 1,2,3,4) is represented by:

in the formula, alpha₁＝γ,α₂＝2γ-1,α₃＝3γ-2,α₄4 γ -3, γ ∈ (3/4, 1); k is a positive definite matrix; obtaining based on the estimation of d (k) by equation (10)

And calculating μ (k) by equation (9); and then the optimized control variable is

7. Method according to claim 6, characterized in that the maximum and minimum values of the controlled variable are determined as u, respectively, by the stroke of the hydraulic cylinder and the mechanical structure_sU、u_sL(ii) a The maximum value and the minimum value of the control quantity increment are respectively determined by the flow of the proportional valve

Namely, it is

μ (k) in equation (9) may be re-described as:

in the formula (I), the compound is shown in the specification,

the magnitude constraint of the control quantity can therefore be expressed by the following inequality:

in the formula (I), the compound is shown in the specification,

also, the constraint on the control quantity increment can be expressed by the following inequality:

in the formula (I), the compound is shown in the specification,

and

are respectively as

And

an increment of (d);

8. an electronic device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method according to any one of claims 1-7 when executing the computer program.

9. A computer-readable storage medium storing computer instructions, which when executed by a processor, perform the steps of the method of any one of claims 1 to 7.

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