CN103061963A - Active yawing system, control method and wave power generation device - Google Patents
Active yawing system, control method and wave power generation device Download PDFInfo
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- CN103061963A CN103061963A CN2013100128763A CN201310012876A CN103061963A CN 103061963 A CN103061963 A CN 103061963A CN 2013100128763 A CN2013100128763 A CN 2013100128763A CN 201310012876 A CN201310012876 A CN 201310012876A CN 103061963 A CN103061963 A CN 103061963A
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- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
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Abstract
The invention provides an active yawing system, a control method and a wave power generation device. The active yawing system comprises a power device, a stranded wire driving device, a detection device and a controller, wherein the detection device is used for detecting wave height and wave direction of a current wave and heading of a floating raft and is connected with the controller, the controller is used for obtaining a control signal of the power device according to the wave height, the wave direction and the heading and sending the control signal to the power device so as to change yawing direction and angle of the floating raft, an output end of the power device is connected with an input end of the stranded wire driving device, the power device and the stranded wire driving device are arranged in the inside closing to one end of the floating raft, a stranded wire is wound on the stranded wire driving device, and two leading-out ends of the stranded wire are anchored at the seabed on two longitudinal sides of the floating draft respectively. The active yawing system, the control method and the wave power generation device are capable of actively controlling yawing to improve wave energy absorption efficiency of the wave energy absorption efficiency, and is capable of preventing the wave power generation device from being damaged by extreme sea conditions.
Description
Technical field
The present invention relates to the wave-activated power generation technology, relate in particular to a kind of active yawing system, controlling method and wave-type electric generator.
Background technique
Wave-energy power generation is that wave energy is converted to electric energy, wave-type electric generator is included in the floating raft body of at least two hinged floating marines, the floating raft body receives wave energy and wave energy is converted to mechanical energy or hydraulic energy, again by mechanical energy or fluid pressure driven generator generating.
In the wave-energy power generation process, (wave come to) constantly changes in time because wave direction, only have bow with wave-type electric generator come to (being positioned at the length direction that wave comes floating raft body forwards) over against wave to, floating raft body and lumpy response and the wave energy that absorbs just can reach maximum value, and wave power utilization is most effective.And under the larger extreme sea condition of wave height (height of wave), in order to prevent from acting on the excessive wave-type electric generator structural failure that causes of load of floating raft body, the bow that then requires the floating raft body to depart from as far as possible wave to, reduce the floating raft body for the response of heaving of the sea campaign.
Existing yaw device is in floating raft body one side a supporting rope to be set, supporting rope one end is connected to floating raft body one side, the other end is connected on the anchor chain, supporting rope is only applicable to retrain the floating raft body and waves, the accurate yaw angle of control wave wave electric generating apparatus, so that the wave-type electric generator bow is to consistent with wave direction, and under extreme sea condition, can not ACTIVE CONTROL wave-type electric generator bow to departing from wave direction.Thereby can not realize the wave energy absorbing maximizing efficiency, cause easily the damage of wave-type electric generator.
Summary of the invention
The invention provides a kind of active yawing system, controlling method and wave-type electric generator, being used for solving prior art Wave electricity generating device can not be according to the technological deficiency of the yaw direction of current wave situation active adjustment wave-type electric generator.
A kind of active yawing provided by the invention system, the bow that comprises power plant, twisted wire drive unit, the wave height for detection of current wave, wave direction and floating raft body to detection device and be used for according to described wave height, wave direction and bow to the control signal that obtains described power plant, and described control signal is sent to described power plant with the yaw direction that changes described floating raft body and the controller of angle; Described detection device is connected with described controller;
The output terminal of described power plant is connected with the input end of described twisted wire drive unit, described power plant and twisted wire drive unit are used for being arranged on the inside near described floating raft body one end, be arranged with twisted wire on the described twisted wire drive unit, two Outlets of described twisted wire are respectively applied to be anchored at the seabed of the vertical both sides of described floating raft body.
Aforesaid active yawing system, preferably, described detection device comprise for detection of the About Wave Sensor of described wave height, wave direction and for detection of the bow of described floating raft body to direction sensor;
Described About Wave Sensor is used for being arranged on floating raft body inside and is connected with described controller; Described direction sensor is used for being arranged on the floating raft external body and being connected with described controller.
Aforesaid active yawing system, preferably, described power plant comprise motor and speed changer, the output shaft of described motor is connected with the input shaft of described speed changer.
Aforesaid active yawing system, preferably, described power plant also comprise for the break of described motor being implemented braking.
Aforesaid active yawing system, preferably, described twisted wire drive unit comprises reel and internal gear, and described reel is used for by axle and the described floating raft body of bearing is inner connects, described internal gear be arranged on described reel end face and with the output gear engagement of described speed changer;
Described reel has the twisted wire annular groove of a plurality of circumferencial directions, described twisted wire winding in described twisted wire annular groove and the two ends of drawing be used for being anchored in the seabed.
Aforesaid active yawing system, preferably, described active yawing system comprises that also be used to the fairlead that is arranged on the described floating raft body, described fairlead is horn-like structure, and two Outlets of described twisted wire pass described fairlead and draw from described floating raft body.
Aforesaid active yawing system, preferably, described active yawing system also comprises bank base monitoring device, described bank base monitoring device is connected with described controller.
The present invention also provides a kind of controlling method based on above-mentioned active yawing system, comprising:
Detect current wave wave height, wave direction and floating raft body bow to;
According to described wave height, wave direction and bow to obtain for control power plant control signal;
Described control signal is sent to described power plant to change yaw direction and the angle of floating raft body.
Aforesaid controlling method, preferably, described according to described wave height, wave direction and bow to obtain for control power plant control signal, comprising:
If described wave height, then obtains power plant greater than setting value and drives the control signal that the floating raft body departs from described wave direction;
If described wave height, then obtains power plant less than setting value and drives the floating raft body and meet control signal to described wave direction.
The present invention also provides a kind of wave-type electric generator, comprise floating raft body and fixing anchor chain, described fixedly anchor chain one end is connected with the front portion of described floating raft body, the described fixedly anchor chain the other end is anchored in the seabed, this wave-type electric generator also comprises aforesaid active yawing system, and described active yawing system is arranged in the described floating raft body and near the position of rear end.
Active yawing provided by the invention system, controlling method and wave-type electric generator, detect the wave height of current wave by detection device, the bow of wave direction and floating raft body to, receive wave height by controller, wave direction and bow are to information, through computational analysis, the amount of exercise of controlled power plant and the control signal of moving direction, adjustment amount and direction with twisted wire in the control twisted wire drive unit, and then yaw direction and the angle of adjustment floating raft body, can be according to the wave height of current wave, the bow of wave direction and floating raft body is to the active control of going off course, improve the wave energy absorbing efficient of wave-type electric generator, and can avoid extreme sea condition that wave-type electric generator is caused damage.
Description of drawings
The mechanical structure schematic representation of the active yawing system that Fig. 1 provides for the embodiment of the invention;
The topological structure schematic representation of the active yawing system that Fig. 2 provides for the embodiment of the invention;
The partial structurtes schematic representation of the active yawing system that Fig. 3 provides for the embodiment of the invention;
The power plant that Fig. 4 provides for the embodiment of the invention and the structural representation of twisted wire drive unit;
The yaw angle scope schematic representation of the active yawing system that Fig. 5 provides for the embodiment of the invention;
The flow chart of the controlling method of the active yawing system that Fig. 6 provides for the embodiment of the invention;
Fig. 7 is the flow chart of a kind of specific implementation of middle step 200 embodiment illustrated in fig. 6.
Reference character:
The 1-power plant; The 11-motor; The 12-speed changer;
2-twisted wire drive unit; The 21-twisted wire; The 22-internal gear;
The 23-outer bearing; The 24-reel; 25-twisted wire annular groove;
The 3-detection device; The 4-controller; The 5-fairlead;
6-bank base monitoring device; 10-floating raft body; 20-is anchor chain fixedly.
Embodiment
With reference to Fig. 1 and 2, the mechanical structure schematic representation of the active yawing system that Fig. 1 provides for the embodiment of the invention; The topological structure schematic representation of the active yawing system that Fig. 2 provides for the embodiment of the invention.
As illustrated in fig. 1 and 2, the active yawing system that present embodiment provides, comprise power plant 1, twisted wire drive unit 2, the wave height for detection of current wave, wave direction and wave-type electric generator floating raft body 10 bow to detection device 3 and be used for according to wave height, wave direction and bow to the control signal that obtains power plant, and control signal is sent to power plant with the yaw direction of the floating raft body 10 that changes wave-type electric generator and the controller 4 of angle; Detection device 3 is connected with controller 4, specifically can by the analog and digital circuit interface or now EBI detection device 3 is connected connections with controller, can certainly adopt other interface shape connection.
The output terminal of power plant 1 is connected with the input end of twisted wire drive unit 2, power plant 1 and twisted wire drive unit 2 are used for being arranged on the inside near floating raft body 10 1 ends, be arranged with twisted wire 21 on the twisted wire drive unit 2, two Outlets of twisted wire 21 are respectively applied to the seabed of anchoring floating raft body 10 vertical both sides, in the practical application, can two Outlets of twisted wire 21 be anchored in the seabed by submarine anchoring thing (anchor, pile or sinker).
In the present embodiment, power plant 1 can be controllable electric driver or fluid pressure drive device, such as motor or oil hydraulic motor etc., and detection device 3 can be polytype sensor.Controller 4 can be programmable logic controller (PLC) (Programmable Logic Controller is called for short PLC) or industrial control computer etc.Detect by detection device 3 current wave wave height, wave direction and floating raft body 10 bow to, controller 4 receives wave height, wave direction and bow to information, through computational analysis, the amount of exercise of controlled power plant 1 and the control signal of moving direction, with adjustment amount and the direction of twisted wire 21 in the control twisted wire drive unit 2, and then yaw direction and the angle of the floating raft body 10 of adjustment wave-type electric generator.
The active yawing system that present embodiment provides, detect the wave height of current wave by detection device, the bow of wave direction and floating raft body to, receive wave height by controller, wave direction and bow are to information, through computational analysis, the amount of exercise of controlled power plant and the control signal of moving direction, adjustment amount and direction with twisted wire in the control twisted wire drive unit, and then yaw direction and the angle of adjustment floating raft body, can be according to the wave height of current wave, the bow of wave direction and floating raft body is to the active control of going off course, improve the wave energy absorbing efficient of wave-type electric generator, and can avoid extreme sea condition that wave-type electric generator is caused damage.
On the basis of the technological scheme that above-described embodiment provides, detection device 3 can comprise for detection of the About Wave Sensor of wave height, wave direction and for detection of bow to direction sensor; About Wave Sensor is used for being arranged on wave-type electric generator inside and is connected with controller 4; Particularly, About Wave Sensor can be noncontacting proximity sensor, also can acceleration formula sensor or pressure type sensor etc.Direction sensor is used for being arranged on the wave-type electric generator outside and is connected with controller 4.Particularly, direction sensor can for bow to sensor, compass or two probe orientation system, wherein, compass can be gyro compass, magnetic compass or Electromagnetic compass etc.; Two probe orientation system can be for the two-in-one orientation system of double GPS (Global Positioning System is called for short GPS) receiving machine orientation system, gps antenna and beacon antenna etc.
The partial structurtes schematic representation of the active yawing system that Fig. 3 provides for the embodiment of the invention; The power plant that Fig. 4 provides for the embodiment of the invention and the structural representation of drive unit.
Shown in Fig. 3 and 4, on the technological scheme basis that above-described embodiment is carried, power plant 1 specifically can comprise motor 11 and speed changer 12, and the output shaft of motor 11 is connected with the input shaft of speed changer 12.
Twisted wire drive unit 2 comprises reel 24 and internal gear 22, and reel 24 is used for by bearing and wave-type electric generator internal links, and internal gear 22 is arranged on reel 24 end faces and meshes with the output gear 121 of speed changer 12.
In the practical application, the internal gear 22 of the pivoting support of motor 11 and speed changer 12 is fixed on floating raft body 10 inside, the outer bearing 23 of pivoting support is connected with reel 24 end faces, internal gear 22 is fixedly connected with outer bearing 23, twisted wire annular groove 25 on the reel 24 is arranged with twisted wire 21, and two Outlets of twisted wire 21 are by the seabed of anchoring due to floating raft body 10 both sides.Motor 11 drives output gear 121 rotations of speed changer 12, and output gear 121 and internal gear 22 engagements of turning round support drive the outer bearing 23 of revolution support with reel 24 rotations, the length of regulating the twisted wire 21 on the reel 24.
Particularly, two Outlets winding direction on reel 24 of twisted wire 21 is opposite, reel 24 both sides twisted wires 21 folding and unfolding speed are identical, when reel 24 rotates, two Outlets of twisted wire 21 are carried out opposite folding and unfolding action, under the pulling force effect of the first Outlet 211, shorten length outside the first Outlet 211, and the second Outlet 212 length increase, floating power generation assembly take front end mooring anchor chain 20 and seabed immovable point as the center of circle to the immovable point direction rotation of the first Outlet 211 with the seabed, in like manner, round about rotation under the pulling force effect of the second Outlet 212, motor 11 is taked the angle closed loop control, the current wave direction signals that controller 4 detects in real time according to detection device 3 and bow are to signal, judge wave direction whether with bow to consistent, whether carry out brake to determine motor 11, realize that the exact position follows the tracks of.So that floating raft body 10 is followed the tracks of wave direction constantly, the bow of floating raft body 10 is to driftage to consistent with wave direction.
Further, power plant 1 also comprise the break (not shown) of braking for 11 enforcements to motor, can be by the position after the driftage of break maintenance and locking wave-type electric generator.
The yaw angle scope schematic representation of the active yawing system that Fig. 5 provides for the embodiment of the invention; As shown in Figure 5, the size of active yawing angular range depends on that the first Outlet 211 of twisted wire 21 and the second Outlet 212 are in the length of seabed anchor location of fixed points and twisted wire 21.The yaw angle scope is less than 180 °, although the direction of ocean Wave is changeable, its amplitude of variation only has tens degree usually, therefore, the driftage ability of this active yawing system can contain the wave to excursion.
In addition, as shown in Figure 3, this active yawing system also comprises be used to the fairlead 5 that is arranged on the floating raft body 10, fairlead 5 is horn-like structure, two Outlets of twisted wire 21 pass fairlead 5 and draw from floating raft body 10, reduce frictional force between twisted wire 21 and the floating raft body 10 by fairlead 5, improve the yaw steering precision.As shown in Figure 2, the active yawing system also comprises bank base monitoring device 6, and bank base monitoring device 6 is connected with described controller 4.Realize long-haul telemetry and remote controls by bank base monitoring device 6, can realize telecommunication between yaw control system and the bank base monitoring device 6 by submarine optical fiber cable.Simultaneously, for ease of operation on the sea and raising control reliability, can be redundant as the controlled in wireless mode by Wireless Telecom Equipment.
In addition, controller 4 can also be controlled and protection, communication and the functions such as data storage and man-machine interaction above-mentioned active yawing system.Controller 4 is controlled start and stop and the sense of rotation of power plant 1 to information according to current wave direction and bow.Controller 4 can Real-Time Monitoring motor 11 the voltage and current situation, thermal overload relay and twisted wire position limit switch are set, cut off the power supply of motor 11 when motor 11 overloads or twisted wire 21 surpass when limiting the position, realize effective protection of twisted pair wire drive unit 2.
Fig. 6 is the flow chart of the controlling method of active yawing provided by the invention system; As shown in Figure 6, a kind of controlling method of the active yawing system that provides based on above-described embodiment is provided present embodiment, comprising:
Particularly, detect wave height and the wave direction of current wave by About Wave Sensor, the bow that detects wave-type electric generator by direction sensor to, and with wave height, wave direction and bow to being sent to controller.Controller carries out analytical technology according to wave height, wave direction and bow to information, the control signal of controlled power plant amounts of rotation and sense of rotation, controller sends to power plant with control signal, power plant move to drive the motion of twisted wire drive unit, adjust yaw direction and the angle of wave-type electric generator.
The controlling method that present embodiment provides, can be according to the bow of wave height, wave direction and the floating raft body of current wave to the active control of going off course, improve the wave energy absorbing efficient of wave-type electric generator, and can avoid extreme sea condition that wave-type electric generator is caused damage.
Fig. 7 is the flow chart of a kind of specific implementation of middle step 200 embodiment illustrated in fig. 6.As shown in Figure 6, on the basis of the technological scheme of above-described embodiment, step 200, specifically comprises to the control signal that obtains for the control power plant according to described wave height, wave direction and bow:
Step 201 drives the control signal that the floating raft body departs from wave direction if described wave height, then obtains power plant greater than setting value;
Step 202 drives the floating raft body and meets control signal to wave direction if described wave height, then obtains power plant less than setting value.
Particularly, the setting value of wave height is the maximum wave height that does not threaten the device security of wave-type electric generator.
In the present embodiment, can determine whether the bow of floating raft body consistent with wave direction to being adjusted into according to wave height, can be according to wave direction and bow to signal, yaw angle and the direction of control floating raft body, to over against wave direction, improve generating efficiency with the bow of realizing floating raft body under the general sea situation, under extreme sea condition, make the bow of floating raft body to departing from as wide as possible wave direction, reduce the floating raft body to the response of heaving of the sea campaign, avoid damaging.
As shown in Figure 1, the embodiment of the invention also provides a kind of wave-type electric generator, comprise floating raft body 10 and fixing anchor chain 20, fixedly anchor chain 20 1 ends are connected with the front portion of floating raft body 10, fixedly anchor chain 20 the other ends are anchored in the seabed, this wave-type electric generator is the active yawing system that provides of above-described embodiment also, and the active yawing system is arranged in the floating raft body 10 and near the position of rear ends.
The wave-type electric generator that present embodiment provides, detect the wave height of current wave by detection device, the bow of wave direction and floating raft body to, receive wave height by controller, wave direction and bow are to information, through computational analysis, the amount of exercise of controlled power plant and the control signal of moving direction, adjustment amount and direction with twisted wire in the control twisted wire drive unit, and then yaw direction and the angle of adjustment floating raft body, can be according to the wave height of current wave, the bow of wave direction and floating raft body is to the active control of going off course, improve the wave energy absorbing efficient of wave-type electric generator, and can avoid extreme sea condition that wave-type electric generator is caused damage.
It should be noted that at last: above each embodiment is not intended to limit only in order to technological scheme of the present invention to be described; Although with reference to aforementioned each embodiment the present invention is had been described in detail, those of ordinary skill in the art is to be understood that: it still can be made amendment to the technological scheme that aforementioned each embodiment puts down in writing, and perhaps some or all of technical characteristics wherein is equal to replacement; And these modifications or replacement do not make the essence of appropriate technical solution break away from the scope of various embodiments of the present invention technological scheme.
Claims (10)
1. active yawing system, it is characterized in that, the bow that comprises power plant, twisted wire drive unit, the wave height for detection of current wave, wave direction and floating raft body to detection device and be used for according to described wave height, wave direction and bow to the control signal that obtains described power plant, and described control signal is sent to described power plant with the yaw direction that changes described floating raft body and the controller of angle; Described detection device is connected with described controller;
The output terminal of described power plant is connected with the input end of described twisted wire drive unit, described power plant and twisted wire drive unit are used for being arranged on the inside near described floating raft body one end, be arranged with twisted wire on the described twisted wire drive unit, two Outlets of described twisted wire are respectively applied to be anchored at the seabed of the vertical both sides of described floating raft body.
2. active yawing according to claim 1 system is characterized in that, described detection device comprise for detection of the About Wave Sensor of described wave height, wave direction and for detection of the bow of described floating raft body to direction sensor;
Described About Wave Sensor is used for being arranged on floating raft body inside and is connected with described controller; Described direction sensor is used for being arranged on the floating raft external body and being connected with described controller.
3. active yawing according to claim 1 and 2 system is characterized in that described power plant comprise motor and speed changer, and the output shaft of described motor is connected with the input shaft of described speed changer.
4. active yawing according to claim 3 system is characterized in that, described power plant also comprise for the break of described motor being implemented braking.
5. active yawing according to claim 3 system, it is characterized in that, described twisted wire drive unit comprises reel and internal gear, described reel is used for by axle and the described floating raft body of bearing is inner connects, described internal gear be arranged on described reel end face and with the output gear engagement of described speed changer;
Described reel has the twisted wire annular groove of a plurality of circumferencial directions, described twisted wire winding in described twisted wire annular groove and the two ends of drawing be used for being anchored in the seabed.
6. active yawing according to claim 1 and 2 system, it is characterized in that, described active yawing system also comprises be used to the fairlead that is arranged on the described floating raft body, described fairlead is horn-like structure, and two Outlets of described twisted wire pass described fairlead and draw from described floating raft body.
7. active yawing according to claim 1 and 2 system is characterized in that, described active yawing system also comprises bank base monitoring device, and described bank base monitoring device is connected with described controller.
8. the controlling method based on the arbitrary described active yawing of claim 1 ~ 7 system is characterized in that, comprising:
Detect current wave wave height, wave direction and floating raft body bow to;
According to described wave height, wave direction and bow to obtain for control power plant control signal;
Described control signal is sent to described power plant to change yaw direction and the angle of floating raft body.
9. controlling method according to claim 8 is characterized in that, described according to described wave height, wave direction and bow to obtain for control power plant control signal, comprising:
If described wave height, then obtains power plant greater than setting value and drives the control signal that the floating raft body departs from described wave direction;
If described wave height, then obtains power plant less than setting value and drives the floating raft body and meet control signal to described wave direction.
10. wave-type electric generator, comprise floating raft body and fixing anchor chain, described fixedly anchor chain one end is connected with the front portion of described floating raft body, the described fixedly anchor chain the other end is anchored in the seabed, it is characterized in that, this wave-type electric generator also comprises each described active yawing system of claim 1 ~ 7, and described active yawing system is arranged in the described floating raft body and near the position of rear end.
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| CN107975455A (en) * | 2017-11-24 | 2018-05-01 | 浙江大学 | A kind of float type wave energy power generation |
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| CN107975455A (en) * | 2017-11-24 | 2018-05-01 | 浙江大学 | A kind of float type wave energy power generation |
| CN107975455B (en) * | 2017-11-24 | 2019-04-16 | 浙江大学 | A kind of float type wave energy power generation |
| CN115875183A (en) * | 2023-03-03 | 2023-03-31 | 青岛科技大学 | Wave energy power generation system and power generation control method |
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