CN103061963B - 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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- CN103061963B CN103061963B CN201310012876.3A CN201310012876A CN103061963B CN 103061963 B CN103061963 B CN 103061963B CN 201310012876 A CN201310012876 A CN 201310012876A CN 103061963 B CN103061963 B CN 103061963B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/20—Hydro energy
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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 wave-activated power generation technology, particularly relate 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, floating raft body receives wave energy and wave energy is converted to mechanical energy or hydraulic energy, then by mechanical energy or fluid pressure driven generator generating.
In wave-energy power generation process, because wave direction (wave to) constantly changes in time, only have by the bow of wave-type electric generator to (being positioned at the length direction that wave carrys out floating raft body forwards) just to wave come to, floating raft body and lumpy response just can reach maximum value with the wave energy absorbed, and wave power utilization is most effective.And under the extreme sea condition that wave height (height of wave) is larger, wave-type electric generator structural failure is caused in order to the load preventing from acting on floating raft body is excessive, then require the bow of floating raft body to depart from as far as possible wave to, reduce the response for heaving of the sea campaign of floating raft body.
Existing yaw device arranges a supporting rope in floating raft body side, supporting rope one end is connected to floating raft body side, the other end is connected on anchor chain, supporting rope is only applicable to constraint floating raft body and waves, can not the yaw angle of accurate control wave wave electric generating apparatus, to make wave-type electric generator bow to consistent with wave direction, and under extreme sea condition, can not ACTIVE CONTROL wave-type electric generator bow to departing from wave direction.Thus can not realize wave energy absorbing maximizing efficiency, easily cause 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, can not according to the technological deficiency of the yaw direction of current wave situations active adjustment wave-type electric generator for solving prior art Wave electricity generating device.
A kind of active yawing system provided by the invention, comprise power plant, twisted wire drive unit, for the bow that detects the wave height of current wave, wave direction and floating raft body to detection device and for according to described wave height, wave direction and bow to the control signal obtaining described power plant, and described control signal is sent to described power plant to change the described yaw direction of 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 for being arranged on the inside near described floating raft body one end, described twisted wire drive unit is arranged with twisted wire, and two Outlets of described twisted wire are respectively used to the seabed being anchored at the longitudinal both sides of described floating raft body.
Active yawing system as above, preferably, described detection device comprise for detect described wave height, wave direction About Wave Sensor and for the bow that detects described floating raft body to direction sensor;
Described About Wave Sensor is used for being arranged on floating raft body inside and being connected with described controller; Described direction sensor is used for being arranged on floating raft external body and is connected with described controller.
Active yawing system as above, preferably, 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.
Active yawing system as above, preferably, described power plant also comprise the break for implementing braking to described motor.
Active yawing system as above, preferably, described twisted wire drive unit comprises reel and internal gear, and described reel is used for being connected by floating raft body inside described in axle and bearing, and described internal gear is arranged on described reel end face and engages with the output gear of described speed changer;
Described reel has the twisted wire annular groove of multiple circumferencial direction, described twisted wire winding in described twisted wire annular groove and draw two ends be used for being anchored in seabed.
Active yawing system as above, preferably, described active yawing system also comprises the fairlead for being arranged on described floating raft body, and described fairlead is horn-like structure, and two Outlets of described twisted wire are drawn from described floating raft body through described fairlead.
Active yawing system as above, preferably, described active yawing system also comprises bank base monitoring device, and 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:
The bow detecting the wave height of current wave, wave direction and floating raft body to;
According to described wave height, wave direction and bow to the control signal obtained for controlling power plant;
Described control signal is sent to described power plant to change yaw direction and the angle of floating raft body.
Controlling method as above, preferably, described according to described wave height, wave direction and bow to the control signal obtained for controlling power plant, comprising:
If described wave height is greater than setting value, then obtains power plant and drive floating raft body to depart from the control signal of described wave direction;
If described wave height is less than setting value, then obtains power plant and drive floating raft body to 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 fixing anchor chain one end is connected with the front portion of described floating raft body, the described fixing anchor chain the other end is anchored in seabed, this wave-type electric generator also comprises active yawing system as above, and described active yawing Operation system setting is in described floating raft body and near the position of rear end.
Active yawing system provided by the invention, controlling method and wave-type electric generator, the wave height of current wave is detected by detection device, the bow of wave direction and floating raft body to, wave height is received by controller, wave direction and bow are to information, through computational analysis, obtain controlling the amount of exercise of power plant and the control signal of moving direction, to control adjustment amount and the direction of twisted wire in twisted wire drive unit, and then adjust yaw direction and the angle of floating raft body, can according to the wave height of current wave, the bow of wave direction and floating raft body carries out driftage to active and controls, improve the wave energy absorbing efficiency of wave-type electric generator, and extreme sea condition can be avoided to cause damage to wave-type electric generator.
Accompanying drawing explanation
The mechanical structure schematic diagram of the active yawing system that Fig. 1 provides for the embodiment of the present invention;
The topological structure schematic diagram of the active yawing system that Fig. 2 provides for the embodiment of the present invention;
The partial structurtes schematic diagram of the active yawing system that Fig. 3 provides for the embodiment of the present invention;
The structural representation of the power plant that Fig. 4 provides for the embodiment of the present invention and twisted wire drive unit;
The yaw angle scope schematic diagram of the active yawing system that Fig. 5 provides for the embodiment of the present invention;
The flow chart of the controlling method of the active yawing system that Fig. 6 provides for the embodiment of the present invention;
Fig. 7 is the flow chart of a kind of specific implementation of middle step 200 embodiment illustrated in fig. 6.
Reference character:
1-power plant; 11-motor; 12-speed changer;
2-twisted wire drive unit; 21-twisted wire; 22-internal gear;
23-outer bearing; 24-reel; 25-twisted wire annular groove;
3-detection device; 4-controller; 5-fairlead;
6-bank base monitoring device; 10-floating raft body; 20-fixes anchor chain.
Embodiment
With reference to the mechanical structure schematic diagram of the active yawing system that Fig. 1 and 2, Fig. 1 provide for the embodiment of the present invention; The topological structure schematic diagram of the active yawing system that Fig. 2 provides for the embodiment of the present invention.
As illustrated in fig. 1 and 2, the active yawing system that the present embodiment provides, comprise power plant 1, twisted wire drive unit 2, for the bow that detects the floating raft body 10 of the wave height of current wave, wave direction and wave-type electric generator to detection device 3 and for according to wave height, wave direction and bow to the control signal obtaining power plant, and control signal is sent to power plant with the controller 4 of the yaw direction and angle that change the floating raft body 10 of wave-type electric generator; Detection device 3 is connected with controller 4, specifically can be connected with controller 4 by detection device 3 by analog and digital circuit interface or present EBI, other interface shape can certainly be adopted to connect.
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 for being arranged on the inside near floating raft body 10 one end, twisted wire drive unit 2 is arranged with twisted wire 21, two Outlets of twisted wire 21 are respectively used to the seabed of the longitudinal both sides of anchoring floating raft body 10, in practical application, by submarine anchoring thing (anchor, pile or sinker), two of twisted wire 21 Outlets can be anchored in seabed.
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.The bow being detected the wave height of current wave, wave direction and floating raft body 10 by detection device 3 to, controller 4 receives wave height, wave direction and bow to information, through computational analysis, obtain controlling the amount of exercise of power plant 1 and the control signal of moving direction, to control adjustment amount and the direction of twisted wire 21 in twisted wire drive unit 2, and then the yaw direction of floating raft body 10 of adjustment wave-type electric generator and angle.
The active yawing system that the present embodiment provides, the wave height of current wave is detected by detection device, the bow of wave direction and floating raft body to, wave height is received by controller, wave direction and bow are to information, through computational analysis, obtain controlling the amount of exercise of power plant and the control signal of moving direction, to control adjustment amount and the direction of twisted wire in twisted wire drive unit, and then adjust yaw direction and the angle of floating raft body, can according to the wave height of current wave, the bow of wave direction and floating raft body carries out driftage to active and controls, improve the wave energy absorbing efficiency of wave-type electric generator, and extreme sea condition can be avoided to cause damage to wave-type electric generator.
On the basis of the technological scheme provided at above-described embodiment, detection device 3 can comprise for detect wave height, wave direction About Wave Sensor and for detect bow to direction sensor; About Wave Sensor is used for being arranged on wave-type electric generator inside and being 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 wave-type electric generator outside and being connected with controller 4.Particularly, direction sensor can be bow to sensor, compass or dual probe orientation system, wherein, compass can be gyro compass, magnetic compass or Electromagnetic compass etc.; Dual probe orientation system can be the two-in-one orientation system etc. of double GPS (Global Positioning System, be called for short GPS) receiving machine orientation system, gps antenna and beacon antenna.
The partial structurtes schematic diagram of the active yawing system that Fig. 3 provides for the embodiment of the present invention; The structural representation of the power plant that Fig. 4 provides for the embodiment of the present invention and drive unit.
As shown in Figures 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 for by bearing and wave-type electric generator internal links, and internal gear 22 is arranged on reel 24 end face and engages with the output gear 121 of speed changer 12.
Reel 24 has the twisted wire annular groove 25 of circumferencial direction, twisted wire 21 winding in twisted wire annular groove 25 and draw two ends be used for being anchored in seabed.
In 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 face, internal gear 22 is fixedly connected with outer bearing 23, twisted wire annular groove 25 on 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 the output gear 121 of speed changer 12 to rotate, and output gear 121 engages with the internal gear 22 of revolving support, drives the outer bearing 23 of revolving support to rotate together with reel 24, regulates the length of the twisted wire 21 on reel 24.
Particularly, two Outlets winding direction on reel 24 of twisted wire 21 is contrary, twisted wire 21 folding and unfolding speed in reel 24 both sides is identical, when reel 24 rotates, two Outlets of twisted wire 21 perform contrary folding and unfolding action, under the pulling force effect of the first Outlet 211, shorten length outside first Outlet 211, and the second Outlet 212 length increases, floating power generation assembly with front end mooring anchor chain 20 with seabed immovable point for the center of circle rotates to the first Outlet 211 with the immovable point direction in seabed, in like manner, rotate round about under the pulling force effect of the second Outlet 212, angle closed loop control taked by motor 11, the current wave direction signal 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, to determine whether motor 11 performs brake, realize exact position to follow the tracks of.Make floating raft body 10 moment follow the tracks of wave direction, 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) for implementing braking to motor 11, can be kept and lock the position after the driftage of wave-type electric generator by break.
The yaw angle scope schematic diagram of the active yawing system that Fig. 5 provides for the embodiment of the present invention; As shown in Figure 5, the size of active yawing angular range depends on the first Outlet 211 of twisted wire 21 and the second Outlet 212 length at the position that seabed anchor is fixed a point and twisted wire 21.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 wave to excursion.
In addition, as shown in Figure 3, this active yawing system also comprises the fairlead 5 for being arranged on floating raft body 10, fairlead 5 is horn-like structure, two Outlets of twisted wire 21 are drawn from floating raft body 10 through fairlead 5, reduce the frictional force between twisted wire 21 and floating raft body 10 by fairlead 5, improve yaw steering precision.As shown in Figure 2, active yawing system also comprises bank base monitoring device 6, and bank base monitoring device 6 is connected with described controller 4.Long-haul telemetry and remote control is realized, the telecommunication that can realize between yaw control system and bank base monitoring device 6 by submarine optical fiber cable by bank base monitoring device 6.Meanwhile, control reliability for ease of operation on the sea and raising, can by Wireless Telecom Equipment as controlled in wireless mode redundancy.
In addition, controller 4 can also carry out control and scheduling co-design, communication and data to above-mentioned active yawing system and stores and the function such as man-machine interaction.Controller 4 controls start and stop and the sense of rotation of power plant 1 according to current wave direction and bow to information.Controller 4 can the voltage and current situation of Real-Time Monitoring motor 11, arranges thermal overload relay and strand locations limit switch, cuts off the power supply of motor 11, realize the available protecting of twisted pair wire drive unit 2 when motor 11 transships or twisted wire 21 exceedes and limits position.
Fig. 6 is the flow chart of the controlling method of active yawing system provided by the invention; As shown in Figure 6, the present embodiment provides a kind of controlling method of the active yawing system provided based on above-described embodiment, comprising:
Step 100, the bow detecting the wave height of current wave, wave direction and floating raft body to;
Step 200, according to described wave height, wave direction and bow to the control signal obtained for controlling power plant;
Step 300, is sent to described power plant to change yaw direction and the angle of floating raft body by control signal.
Particularly, detected wave height and the wave direction of current wave by About Wave Sensor, the bow being detected wave-type electric generator by direction sensor to, and by 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, obtain the control signal controlling power plant amounts of rotation and sense of rotation, control signal is sent to power plant by controller, power plant motion, to drive twisted wire drive unit to move, adjusts yaw direction and the angle of wave-type electric generator.
The controlling method that the present embodiment provides, driftage can be carried out according to the bow of the wave height of current wave, wave direction and floating raft body to active to control, improve the wave energy absorbing efficiency of wave-type electric generator, and extreme sea condition can be avoided to cause damage to wave-type electric generator.
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, according to described wave height, wave direction and bow to the control signal obtained for controlling power plant, specifically comprises:
Step 201, if described wave height is greater than setting value, then obtains power plant and drives floating raft body to depart from the control signal of wave direction;
Step 202, if described wave height is less than setting value, then obtains power plant and drives floating raft body to meet control signal to wave direction.
Particularly, the setting value of wave height is the maximum wave height of the device security not threatening wave-type electric generator.
In the present embodiment, can determine whether the bow of floating raft body to being adjusted to consistent with wave direction according to wave height, can according to wave direction and bow to signal, control yaw angle and the direction of floating raft body, to realize the bow of floating raft body under general sea situation to just to wave direction, improve generating efficiency, under extreme sea condition, make the bow of floating raft body to departing from wave direction as wide as possible, reduce floating raft body to the response of heaving of the sea campaign, avoid damaging.
As shown in Figure 1, the embodiment of the present invention also provides a kind of wave-type electric generator, comprise floating raft body 10 and fixing anchor chain 20, fixing anchor chain 20 one end is connected with the front portion of floating raft body 10, fixing anchor chain 20 the other end is anchored in seabed, this wave-type electric generator is the active yawing system that provides of above-described embodiment also, and active yawing Operation system setting is in floating raft body 10 and near the position of rear end.
The wave-type electric generator that the present embodiment provides, the wave height of current wave is detected by detection device, the bow of wave direction and floating raft body to, wave height is received by controller, wave direction and bow are to information, through computational analysis, obtain controlling the amount of exercise of power plant and the control signal of moving direction, to control adjustment amount and the direction of twisted wire in twisted wire drive unit, and then adjust yaw direction and the angle of floating raft body, can according to the wave height of current wave, the bow of wave direction and floating raft body carries out driftage to active and controls, improve the wave energy absorbing efficiency of wave-type electric generator, and extreme sea condition can be avoided to cause damage to wave-type electric generator.
Last it is noted that above each embodiment is only in order to illustrate technological scheme of the present invention, be not intended to limit; Although with reference to foregoing embodiments to invention has been detailed description, those of ordinary skill in the art is to be understood that: it still can be modified to the technological scheme described in foregoing embodiments, or carries out equivalent replacement to wherein some or all of technical characteristics; And these amendments or replacement, do not make the essence of appropriate technical solution depart from the scope of various embodiments of the present invention technological scheme.
Claims (10)
1. an active yawing system, it is characterized in that, comprise power plant, twisted wire drive unit, for the bow that detects the wave height of current wave, wave direction and floating raft body to detection device and for according to described wave height, wave direction and bow to the control signal obtaining described power plant, and described control signal is sent to described power plant to change the described yaw direction of 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 arranged on the inside near described floating raft body one end, described twisted wire drive unit is arranged with twisted wire, and two Outlets of described twisted wire are anchored at the seabed of the longitudinal both sides of described floating raft body respectively.
2. active yawing system according to claim 1, is characterized in that, described detection device comprise for detect described wave height, wave direction About Wave Sensor and for the bow that detects described floating raft body to direction sensor;
Described About Wave Sensor is arranged on floating raft body inside and is connected with described controller; Described direction sensor is arranged on floating raft external body and is connected with described controller.
3. active yawing system according to claim 1 and 2, 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 system according to claim 3, is characterized in that, described power plant also comprise the break for implementing braking to described motor.
5. active yawing system according to claim 3, it is characterized in that, described twisted wire drive unit comprises reel and internal gear, and described reel is connected with described floating raft body inside by axle and bearing, and described internal gear is arranged on described reel end face and engages with the output gear of described speed changer;
Described reel has the twisted wire annular groove of multiple circumferencial direction, and described twisted wire winding is in described twisted wire annular groove and the two ends of drawing are anchored in seabed.
6. active yawing system according to claim 1 and 2, it is characterized in that, described active yawing system also comprises the fairlead be arranged on described floating raft body, described fairlead is horn-like structure, and two Outlets of described twisted wire are drawn from described floating raft body through described fairlead.
7. active yawing system according to claim 1 and 2, 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., based on a controlling method for the arbitrary described active yawing system of claim 1 ~ 7, it is characterized in that, comprising:
The bow detecting the wave height of current wave, wave direction and floating raft body to;
According to described wave height, wave direction and bow to the control signal obtained for controlling power plant;
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 the control signal obtained for controlling power plant, comprising:
If described wave height is greater than setting value, then obtains power plant and drive floating raft body to depart from the control signal of described wave direction;
If described wave height is less than setting value, then obtains power plant and drive floating raft body to meet control signal to described wave direction.
10. a wave-type electric generator, comprise floating raft body and fixing anchor chain, described fixing anchor chain one end is connected with the front portion of described floating raft body, the described fixing anchor chain the other end is anchored in seabed, it is characterized in that, this wave-type electric generator also comprises the active yawing system described in any one of claim 1 ~ 7, and described active yawing Operation system setting is in described floating raft body and near the position of rear end.
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| CN104100449B (en) * | 2014-07-16 | 2016-04-06 | 东南大学 | A kind of double-floating drum ocean wave power generation device resists the device and method that storm impacts |
| CN107975455B (en) * | 2017-11-24 | 2019-04-16 | 浙江大学 | A kind of float type wave energy power generation |
| CN115875183B (en) * | 2023-03-03 | 2023-05-23 | 青岛科技大学 | Wave energy power generation system and power generation control method |
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