CN103089527B - Wave power generation system and wave power generation control method - Google Patents
Wave power generation system and wave power generation control method Download PDFInfo
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- CN103089527B CN103089527B CN201310013096.0A CN201310013096A CN103089527B CN 103089527 B CN103089527 B CN 103089527B CN 201310013096 A CN201310013096 A CN 201310013096A CN 103089527 B CN103089527 B CN 103089527B
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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
- Y02E10/30—Energy from the sea, e.g. using wave energy or salinity gradient
Abstract
The invention provides a wave power generation system and a wave power generation control method. The wave power generation system comprises raft bodies which are hinged, a plurality of hydraulic cylinders, a plurality of control integration valves, a high pressure energy accumulator, a hydraulic motor, a power generator and a control system, wherein the plurality of hydraulic cylinders and the plurality of control integration valves are in parallel connection, piston rods of the plurality of hydraulic cylinders are connected with one raft body, cylinder bodies of the plurality of hydraulic cylinders are connected with another raft body, cavities of the plurality of hydraulic cylinders are respectively communicated with the control integration valves, an inlet of the high pressure energy accumulator is communicated with the control integration valve, an outlet of the high pressure energy accumulator is communicated with an inlet of the hydraulic motor, an outlet of the hydraulic motor is communicated with a low pressure oil tank, the low pressure oil tank is communicated with the control integration valves, the control system is connected with the control integration valves to control the control integration valves to switch oil ways, the control system is connected with an electric control valve at the inlet end of the high pressure energy accumulator to control energy accumulation capacity of the high pressure energy accumulator, and the control system is connected with the hydraulic motor to control the output volume of the hydraulic motor.
Description
Technical field
The present invention relates to generation technology, particularly relate to a kind of Wave energy generating system and controlling method.
Background technique
Wave-energy power generation is that wave energy is converted to electric energy, at present, Wave energy generating system mainly contains mechanical transmission, hydraulic transmission or pneumatic isotype, wherein, based on the mechanism that hydraulicdriven wave-energy power generation technology is by a similar oil hydraulic pump, accept the effect of wave, first wave energy is converted into hydraulic energy and stores, again by hydraulic motor-driving generator, be electric energy by the hydraulic energy transfer of storage.Hydraulic transmission possesses that power is large, the feature of low speed, and mate with wave characteristics, in the Conversion of Energy chain of wave energy-hydraulic energy-electric energy, the effect of change wave input power when hydraulic energy plays temporary, level and smooth, to improve the quality of output electric energy.
The key problem of wave electric power system design improves the absorptivity of wave energy-hydraulic energy as much as possible, owing to becoming when cycle of wave, wavelength, wave height are all, thus act on loading force on Wave energy generating system, input power becomes when being also.For making in the wave action cycle, wave farthest does work to Wave energy generating system, under the prerequisite that Wave energy generating system can will be driven to operate at the active force of wave, as far as possible increase Wave energy generating system to external resistance.
In addition, also to improve the quality exporting electric energy as much as possible, namely improve the stability exporting electric frequency and electromotive power output.
Summary of the invention
The invention provides a kind of Wave energy generating system and controlling method, lower and export the technological deficiency of quality of power supply difference for solving prior art Wave energy power generation system wave energy absorbing rate.
The invention provides a kind of Wave energy generating system, comprise the raft body be hinged, the oil hydraulic cylinder of multiple parallel connection and control integration valve, high pressure accumulator, oil hydraulic motor, generator and control system;
The piston rod of described multiple oil hydraulic cylinder is connected with a raft body, the cylinder body of described multiple oil hydraulic cylinder is connected with another raft body, each chamber of described multiple oil hydraulic cylinder is communicated with described control integration valve respectively, the import of described high pressure accumulator is communicated with described control integration valve, the outlet of described high pressure accumulator and the inlet communication of described oil hydraulic motor, the outlet of described oil hydraulic motor is communicated with described low-pressure reservoir, and described low-pressure reservoir is communicated with described control integration valve;
Described control system is connected with described control integration valve, to control described control integration Vavle switching oil circuit, controls the quantity of the oil hydraulic cylinder of access oil hydraulic circuit; Described control system is connected with the electrically-controlled valve of described high pressure accumulator entrance point, to control the accumulation of energy capacity of described high pressure accumulator; Described control system is connected with described oil hydraulic motor, to control the discharge capacity of described oil hydraulic motor.
Wave energy generating system as above, preferably, the quantity of described oil hydraulic cylinder is four, and described oil hydraulic cylinder comprises rod chamber and rodless cavity; Described control integration valve comprises four groups of control valves, and often organize control valve and comprise two electrically-controlled valve and four one-way valves, described electrically-controlled valve is normally open valve;
First electrically-controlled valve is arranged on the low pressure oil way between the rodless cavity of described oil hydraulic cylinder and described low-pressure reservoir, first one-way valve is arranged on the high-pressure oil passage between the rodless cavity of described oil hydraulic cylinder and described high pressure accumulator, described second one-way valve is arranged on the low pressure oil way between the rodless cavity of described oil hydraulic cylinder and described low-pressure reservoir, described first one-way valve and the second one-way valve reverse;
Second electrically-controlled valve is arranged on the low pressure oil way between the rod chamber of described oil hydraulic cylinder and described low-pressure reservoir, 3rd one-way valve is arranged on the high-pressure oil passage between the rod chamber of described oil hydraulic cylinder and described high pressure accumulator, described 4th one-way valve is arranged on the low pressure oil way between the rod chamber of described oil hydraulic cylinder and described low-pressure reservoir, described 3rd one-way valve and the 4th one-way valve reverse;
Described control system is connected with described first electrically-controlled valve, the second electrically-controlled valve, and described control system controls the first electrically-controlled valve and the second electrically-controlled valve opening and closing, to control the oil hydraulic cylinder quantity accessing oil hydraulic circuit.
Wave energy generating system as above, preferably, the oil circuit between described oil hydraulic motor outlet end and described low-pressure reservoir is provided with solenoid valve; Oil circuit between described high pressure accumulator and described solenoid valve is provided with proportional throttle valve; Eduction valve is provided with between described high pressure accumulator and described low-pressure reservoir;
Described control system is connected with described solenoid valve, proportional electromagnetic valve, described control system Controlling solenoid valve must not electricity time, described high pressure accumulator is to described oil hydraulic motor input hydraulic pressure oil, when described control system Controlling solenoid valve obtains electric, described proportional throttle valve by described oil hydraulic motor short circuit, and consumes hydraulic energy.
Wave energy generating system as above, preferably, described high pressure accumulator comprises the accumulator of two groups of parallel connections, and first group of accumulator comprises accumulation of energy bottle, second group of accumulator bag accumulation of energy bottle and gas cylinder, and described gas cylinder is communicated with described accumulation of energy bottle;
The entrance point of described first group of accumulator and second group of accumulator is provided with electrically-controlled valve, and described control system controls described electrically-controlled valve and opens or close, to control quantity and the form of the high pressure accumulator accessing hydraulic system oil circuit.
Wave energy generating system as above, preferably, described oil hydraulic motor is for becoming displacement motor, and described generator is induction generator; The output shaft of described oil hydraulic motor is connected with the input shaft of described generator.
The present invention also provides a kind of controlling method based on above-mentioned Wave energy generating system, comprising:
Obtain the running state data of Wave energy generating system;
The external conjunction resistance of described oil hydraulic cylinder, the accumulation of energy capacity of described high pressure accumulator and the discharge capacity of described oil hydraulic motor is controlled according to described running state data.
Wave energy generating system provided by the invention and controlling method, be provided with multiple oil hydraulic cylinder, control system can control control integration valve and realize oil circuit switching, to control to access the oil hydraulic cylinder quantity in oil hydraulic circuit, and then the external conjunction resistance of hydraulic control cylinder, the external conjunction resistance of oil hydraulic cylinder is mated with wave energy, improve wave energy absorbing efficiency, and by the discharge capacity of control system hydraulic control motor, to control frequency and the power stability that generator exports electricity, can improve and export the quality of power supply.
Accompanying drawing explanation
The structural representation of the Wave energy generating system that Fig. 1 provides for the embodiment of the present invention;
The hydraulic system principle figure of the Wave energy generating system that Fig. 2 provides for the embodiment of the present invention;
Power generation part schematic diagram in the Wave energy generating system hydraulic schematic diagram that Fig. 3 provides for the embodiment of the present invention;
The flow chart of the controlling method of the Wave energy generating system that Fig. 4 provides for the embodiment of the present invention;
Fig. 5 externally closes the flow chart of draught control method for oil hydraulic cylinder that the embodiment of the present invention provides;
Fig. 6 externally closes the control schematic diagram of resistance for oil hydraulic cylinder that the embodiment of the present invention provides;
The flow chart of the accumulation of energy capacity control method of the high pressure accumulator that Fig. 7 provides for the embodiment of the present invention;
The flow chart of the displacement control of the oil hydraulic motor that Fig. 8 provides for one embodiment of the invention;
The mechanical property schematic diagram of the generator that Fig. 9 provides for the embodiment of the present invention;
The control schematic diagram of the discharge capacity of the oil hydraulic motor that Figure 10 provides for one embodiment of the invention;
The flow chart of the displacement control of the oil hydraulic motor that Figure 11 provides for another embodiment of the present invention;
The control schematic diagram of the discharge capacity of the oil hydraulic motor that Figure 12 provides for another embodiment of the present invention.
Reference character:
2-oil hydraulic cylinder; 3-control integration valve; 4-high pressure accumulator;
5-oil hydraulic motor; 6-generator; 7-low-pressure reservoir.
Embodiment
The structural representation of the Wave energy generating system that Fig. 1 provides for the embodiment of the present invention.As shown in Figure 1, the Wave energy generating system that the present embodiment provides, comprises the raft body be hinged, the oil hydraulic cylinder 2 of multiple parallel connection and control integration valve 3, high pressure accumulator 4, oil hydraulic motor 5, generator 6 and control system (not shown).
The piston rod of multiple oil hydraulic cylinder 2 is connected with the first raft body 11, the cylinder body of multiple oil hydraulic cylinder 2 is connected with the second raft body 12, each chamber of oil hydraulic cylinder 2 is communicated with control integration valve 3 respectively, the import of high pressure accumulator 4 is communicated with control integration valve 3, the outlet of high pressure accumulator 4 and the inlet communication of oil hydraulic motor 5, the outlet of oil hydraulic motor 5 is communicated with low-pressure reservoir 7, and low-pressure reservoir 7 is communicated with control integration valve 3.
Control system is connected with control integration valve 3, switches oil circuit to control control integration valve 3, controls the quantity of the oil hydraulic cylinder 2 of access oil hydraulic circuit; Control system is connected with the electrically-controlled valve of high pressure accumulator 4 entrance point, to control the accumulation of energy capacity of high pressure accumulator 4; Control system is connected with oil hydraulic motor 5, with the discharge capacity of hydraulic control motor 5.
Particularly, oil hydraulic motor 5 can for becoming displacement motor, and generator 6 can be induction generator, and the output shaft of oil hydraulic motor 5 is connected with the input shaft of generator 6.Further, oil hydraulic motor 5 can be plunger type motor, changes the discharge capacity of the swash plate angle regulator solution pressure motor 5 of oil hydraulic motor 5 by control system.Generator 6 can be squirrel-cage generator, and the output shaft synchronous of the input shaft of generator 6 and rotor and oil hydraulic motor 5 rotates, and the stator of generator 6 directly connects grid generation.The output shaft of oil hydraulic motor 5 or the input shaft of generator 6 install torque sensor, in the stator side of generator 6, current sensor is installed.
Multiple oil hydraulic cylinder 2 can be divided into two groups, and two groups of oil hydraulic cylinders are arranged symmetrically with, and control integration valve the chamber of hydraulic control cylinder 2 can access the low pressure oil way of low-pressure reservoir 7 simultaneously, thus makes this oil hydraulic cylinder not access oil hydraulic circuit; Also the chamber of hydraulic control cylinder 2 can access high and low pressure loop respectively, thus make this oil hydraulic cylinder access oil hydraulic circuit.Control the quantity of the oil hydraulic cylinder 2 in access oil hydraulic circuit in the above described manner, and then the external conjunction resistance of hydraulic control cylinder 2.Oil hydraulic cylinder 2 can for having the oil hydraulic cylinder of two or more dual cavity, or be the cylinder body side of dual cavity oil hydraulic cylinder to the oil hydraulic cylinder of top Connecting format, the difficulty of processing of multi-chamber hydraulic cylinder can be reduced.
Working procedure and principle are: the first raft body 11 is relative under the wave action with the second valve body 12 to be rotated, thus drives the piston rod to-and-fro motion of multiple oil hydraulic cylinder 2, absorb wave energy and are converted into mechanical energy.First raft body 11 is provided by the oil hydraulic cylinder of upper and lower two groups of symmetries with the resistance of the relative rotation of the second valve body 12.Oil hydraulic cylinder 2 is under the control of control integration valve 3, and hydraulic oil in chamber is constantly pumped into high pressure accumulator 4 by high-pressure oil passage by reciprocating piston rod, simultaneously by low pressure oil way from low-pressure reservoir 7 replenisher force feed.High pressure accumulator 4 gently output hydraulic pressure traffic driven oil hydraulic motor 5 drawing generator 6 generates electricity, and realizes the conversion of hydraulic energy to electric energy.
The Wave energy generating system that the present embodiment provides, be provided with multiple oil hydraulic cylinder 2, control system can control control integration valve 3 and realize oil circuit switching, to control to access oil hydraulic cylinder 2 quantity in oil hydraulic circuit, and then the external conjunction resistance of hydraulic control cylinder 2, the external conjunction resistance of oil hydraulic cylinder 2 is mated with wave energy, improve wave energy absorbing efficiency, and by the discharge capacity of control system hydraulic control motor 5, to control frequency and the power stability that generator 6 exports electricity, can improve and export the quality of power supply.
The hydraulic system principle figure of the Wave energy generating system that Fig. 2 provides for the embodiment of the present invention; As shown in 1 and 2, on the basis of above-described embodiment technological scheme, preferably, the quantity of oil hydraulic cylinder 2 is four, and oil hydraulic cylinder 2 comprises rod chamber and rodless cavity; Control integration valve comprises four groups of control valves, and often organize control valve and comprise two electrically-controlled valve and four one-way valves, electrically-controlled valve is normally open valve.In the present embodiment, the control mode of four groups of control valves is identical;
For the first oil hydraulic cylinder 21, first electrically-controlled valve KA1 is arranged on the low pressure oil way between the rodless cavity A1 of the first oil hydraulic cylinder 2 and low-pressure reservoir 7, first one-way valve HA1 is arranged on the high-pressure oil passage between the rodless cavity A1 of the first oil hydraulic cylinder 2 and high pressure accumulator 4, second one-way valve LA1 is arranged on the low pressure oil way between the rod chamber A1 of the first oil hydraulic cylinder 2 and low-pressure reservoir 7, and the first one-way valve HA1 and the second one-way valve LA1 is reverse.
Second electrically-controlled valve KA2 is arranged on the low pressure oil way between the rod chamber A2 of the first oil hydraulic cylinder 2 and low-pressure reservoir 7,3rd one-way valve arranges HA2 on the high-pressure oil passage between the rod chamber A2 and high pressure accumulator 4 of the first oil hydraulic cylinder 2,4th one-way valve LA2 is arranged on the low pressure oil way between the rod chamber A2 of the second oil hydraulic cylinder 2 and low-pressure reservoir 7, and the 3rd one-way valve HA2 and the 4th one-way valve LA2 is reverse.
Control system is connected with the first electrically-controlled valve KA1, the second electrically-controlled valve KA2, and control system controls the first electrically-controlled valve KA1 and the second electrically-controlled valve KA2 opening and closing.
Oil hydraulic cylinder externally closes drag size and equals equivalent piston sectional area and be multiplied by working pressure (pressure difference of high-pressure oil passage and low pressure oil way), and wherein equivalent piston sectional area is determined by the chamber number accessing high-low circuit.By control integration valve 3, mode and the number of oil hydraulic cylinder 2 each chamber access high-low circuit can be changed in real time, thus the external conjunction resistance of regulator solution cylinder pressure 2.Specifically, when the first electrically-controlled valve KA1 and the second electrically-controlled valve KA2 all must not be electric, then the first oil hydraulic cylinder 21 accesses high-low circuit, in like manner can control the access of other oil hydraulic cylinders 2, if four oil hydraulic cylinders 2 all access high-low circuit, then oil hydraulic cylinder 2 externally provides maximum conjunction resistance; When all electrically-controlled valve all electric time, it is zero that four oil hydraulic cylinders 2 externally close resistances.By access way and the number of reasonable combination 8 chambers, the external conjunction resistance of some ranks can be obtained.
It should be noted that, when there is electrical failure in Wave energy generating system, cause all electrically-controlled valve dead electricity in system, oil hydraulic cylinder 2 externally presents maximum conjunction resistance, underdamping is there is under can avoiding failure situations, cause Wave energy generating system strenuous exercise to cause mechanical damage, sacrifice wave energy absorbing efficiency to guarantee Wave energy generating system security of operation.
The schematic diagram of the power generation part in the hydraulic schematic diagram of the Wave energy generating system that Fig. 3 provides for the embodiment of the present invention; As shown in Figure 3, on the basis of technique scheme, preferably, the oil circuit between oil hydraulic motor 5 outlet end and low-pressure reservoir 7 is provided with solenoid valve K; Oil circuit between high pressure accumulator 4 and solenoid valve K is provided with proportional throttle valve T; Eduction valve D is provided with between high pressure accumulator 4 and low-pressure reservoir 7.
Control system is connected with solenoid valve K, proportional electromagnetic valve T, solenoid valve K must not electricity time, high pressure accumulator 4 to oil hydraulic motor 5 input hydraulic pressure oil, when solenoid valve K obtains electric, proportional throttle valve T short circuit oil hydraulic motor 5, and consume hydraulic energy.
Solenoid valve K is in normally closed (must not be electric) state, now high pressure accumulator 4 gently output hydraulic pressure energy, drives oil hydraulic motor 5 drive electrical generators 6 to generate electricity, hydraulic oil is returned low-pressure reservoir 7 simultaneously.When hydraulic system energy storage is too much, excess pressure is discharged by eduction valve D; When power generation conditions does not meet, can control electrically-controlled valve K and obtain electric, this is by short circuit motor generator set, is dissipated by the hydraulic energy passing ratio throttle valve T of absorption with form of thermal energy.In order to improve the adaptation of electricity generating device to all kinds of sea situation, improving the wave energy absorbing efficiency under specific sea situation, strengthening the vital capacity under extreme sea condition, needing the external conjunction resistance of real-time regulator solution cylinder pressure 2, realize impedance match.
On the basis of above-described embodiment, high pressure accumulator 4 can comprise the accumulator of two groups of parallel connections, and first group of accumulator comprises accumulation of energy bottle, second group of accumulator bag accumulation of energy bottle and gas cylinder, and gas cylinder is communicated with accumulation of energy bottle;
The entrance point of first group of accumulator and second group of accumulator is provided with electrically-controlled valve, and control system controls electrically-controlled valve and opens or close, to control quantity and the form of the high pressure accumulator accessing hydraulic system oil circuit.
Particularly, during the work of this Wave energy generating system, control system can control the mode of high pressure accumulator access high tension loop according to wave size.Wave can be divided into level Four according to wave height is ascending: wherein the first order, the second level and the third level wave time, Wave energy generating system can normal power generation, and control system control overflow is with the increase accumulator that matches of access capacity step by step of wave; Fourth stage wave is extreme sea condition, and requirement can improve rapidly pressure to be formed higher external conjunction resistance by oil hydraulic cylinder.
Particularly, the access way of high pressure accumulator 4 can be:
During first order wave, first group of accumulator is opened, and second group of accumulator cuts out; During the wave of the second level, first group of accumulator cuts out, and second group of accumulator is opened; During third level wave, first group of accumulator and second group of accumulator are all opened; Under first order wave situations, the relative movement between each raft body of Wave energy generating system increases along with the increase of wave, by above-mentioned access way, can improve the rate of climb of hydraulic circuit pressure, be conducive to the extraction of wave energy.
During fourth stage wave, first group of accumulator is opened, and second group of accumulator cuts out.Under fourth stage wave, though adopt with one-level wave phase with access way, the quick rising of hydraulic circuit pressure makes the rigidity of Wave energy generating system become large, thus more easily wears wave and mistake, thus the relative movement reduced between each raft body, to strengthen the vital capacity of Wave energy generating system.By the accumulation of energy volume controlled of above-mentioned high pressure accumulator, Wave energy generating system sea situation accommodation can be improved, and the vital capacity of Wave energy generating system under extreme sea condition can be improved.
The controlling method flow chart of the Wave energy generating system that Fig. 4 provides for the embodiment of the present invention; As shown in Figure 4, the present embodiment provides a kind of controlling method of the Wave energy generating system provided based on above-described embodiment, comprising:
Step 100, obtains the running state data of Wave energy generating system;
Step 200, according to the external conjunction resistance of running state data hydraulic control cylinder, the accumulation of energy capacity of high pressure accumulator and the discharge capacity of oil hydraulic motor.
The running state data of Wave energy generating system comprises position and speed, the output voltage of generator and the output shaft torque etc. of the oil pressure of electric current, high pressure accumulator and low-pressure reservoir, the output flow of high pressure accumulator and oil hydraulic motor of hydraulic cylinder piston rod.
The control signal of the external conjunction resistance of hydraulic control cylinder, the accumulation of energy capacity of high pressure accumulator and the discharge capacity of oil hydraulic motor is drawn according to the data of above-mentioned detection, control externally to close resistance, the accumulation of energy capacity of high pressure accumulator and the discharge capacity of oil hydraulic motor, to improve the absorptivity of wave energy and to export the quality of electric energy.
Control system can adopt programmable logic controller (PLC) (Programmable Logic Controller, be called for short PLC), also can adopt based on field programmable gate array (Field-Programmable Gate Array, FPGA) or the monitoring platform such as Digital Signal Processing (Digital Signal Processing, be called for short DSP) realize concrete observing and controlling flow process.
Fig. 5 externally closes the flow chart of draught control method for oil hydraulic cylinder that the embodiment of the present invention provides; The oil hydraulic cylinder that Fig. 6 provides for the embodiment of the present invention externally closes draught control schematic diagram.
As shown in Figure 5, particularly, the running state data of the acquisition Wave energy generating system in step 100, is specially:
Step 101 detects the position of hydraulic cylinder piston rod and the oil pressure of speed, high pressure accumulator and low-pressure reservoir;
The external conjunction resistance of the hydraulic control cylinder in step 200, is specially:
Step 201, calculate continuous print according to the position of hydraulic cylinder piston rod and speed to expect externally to close resistance, reality that each oil hydraulic cylinder can provide is obtained to external resistance according to the oil pressure of high pressure accumulator and low-pressure reservoir, by some combining forms of oil hydraulic cylinder, approach continuous print with discrete reality to external resistance to expect externally to close resistance, obtain the control signal controlling control integration valve;
Step 301, controls the opening and closing of the electrically-controlled valve in control integration valve according to control signal, to control the quantity of the oil hydraulic cylinder accessed in oil hydraulic circuit, realize the control that oil hydraulic cylinder externally closes resistance.
As shown in Figure 6, can be generated by Hookean spring damper and expect externally to close resistance, specifically, according to position and the speed of current hydraulic cylinder piston rod, be multiplied by suitable stiffness coefficient, damping constant calculates expectation and externally close resistance, can think that this externally closes resistance and current wave force matches.Again according to work at present pressure (difference of the oil pressure of high pressure accumulator and low-pressure reservoir), the reality that calculating oil hydraulic cylinder can provide is to external resistance.Number due to the chamber of access high-low circuit oil hydraulic cylinder is Discrete Change and limited denumerable, so the external Resistance Value of reality that oil hydraulic cylinder can provide also is discrete.Judge to expect externally to close resistance between which two available reality is to external resistance, with discrete reality external resistance approached and expect resistance continuously.
As shown in Figure 6, the s in figure,
represent displacement and the speed of hydraulic cylinder piston rod, k
s, k
dbe stiffness coefficient respectively, damping constant, p represents work at present pressure, A
ctrrepresent the access oil hydraulic circuit equivalent piston sectional area of corresponding valve control command,
, F
resrepresent that the expectation of continuously linear externally closes resistance respectively, the reality of discrete approximation is to external resistance.
Concrete control algorithm can be realized by PLC, only needs to build electrically-controlled valve access way and the corresponding form of equivalent piston area in PLC, is multiplied by work at present pressure, just can obtain oil hydraulic cylinder all discrete Resistance Value that can externally provide.Algorithm utilizes piston rod displacement and speed calculation expectation externally to close resistance, and resistance versus external with discrete reality again utilizes electrically-controlled valve-area form, obtain the control command of electrically-controlled valve.
The flow chart of the accumulation of energy capacity control method of the high pressure accumulator that Fig. 7 provides for the embodiment of the present invention; As shown in Figure 7, the running state data of the acquisition Wave energy generating system in step 100, is specially:
Step 102, receives current wave energy signal;
The accumulation of energy capacity of the control high pressure accumulator in step 200 is specially:
Step 202, obtains the control signal of the electrically-controlled valve controlling high pressure accumulator entrance point according to current Wave energy signal;
Particularly, current Ocean-wave Signal can by receiving the signal that ground control station provides.
Step 302, controls electrically-controlled valve opening and closing according to control signal, to control type and the quantity of the high pressure accumulator accessed in oil hydraulic circuit.
By the control of the accumulation of energy capacity to high pressure accumulator, the scope that Wave energy generating system adapts to sea situation can be improved.
The flow chart of the displacement control of the oil hydraulic motor that Fig. 8 provides for one embodiment of the invention; The mechanical property schematic diagram of the generator that Fig. 9 provides for the embodiment of the present invention; The control schematic diagram of the discharge capacity of the oil hydraulic motor that Figure 10 provides for one embodiment of the invention.
As shown in Figure 8, the running state data of the acquisition Wave energy generating system in step 100, is specially:
Step 103, detects the output shaft torque of oil hydraulic motor, output generator current and the oil pressure of voltage, high pressure accumulator and low-pressure reservoir and the output flow of high pressure accumulator;
The discharge capacity of the hydraulic control prosperity in step 200 is specially:
Step 203, if the output shaft torque of oil hydraulic motor is greater than 90% of generator pull out torque, then the swash plate angle of hydraulic control motor is 0, closes the control valve of oil hydraulic motor import;
Step 303, if the output shaft torque of oil hydraulic motor is greater than 50% of generator pull out torque, then the swash plate angle of hydraulic control motor reduces 50%;
Step 403, if the output shaft torque of oil hydraulic motor is less than generator full-load torque, then obtain the desired output electric power of generator according to the oil pressure of the high pressure accumulator that detects and low-pressure reservoir and high pressure accumulator output flow, obtain actual electromotive power output according to output generator current and voltage; The deviation of desired output electric power and real output is carried out proportional integral computing, obtains the displacement control signal of oil hydraulic motor, export electric frequency and power keep stable to control generator.
As shown in Figure 9, particularly, the mechanical property of generator makes the synchronous speed of generator be a stable operation equinoctial point, is conducive to rotating speed and controls.When torque is less than pull out torque, the fluctuation of speed is very little, and now can not add control can ensure stabilization of speed.And when torque is greater than pull out torque, rotating speed increases sharply and may cause device damage, must be protected.For this reason, control objectives and the controlling torque of stabilized (steady-state) speed are less than pull out torque, also namely control rotating speed and are no more than default overshoot.
On the other hand, in order to the electromotive power output of stable generator, need feedback operation pressure, the output flow of high pressure accumulator, calculate the input power of present motor generator set, calculate the generator output power value of a coupling thus, as desired output performance number.Reaction generator output voltage and electric current, calculate actual electromotive power output, utilizes and expect that the deviation of electric power and actual electric power does proportional plus integral control, obtain the displacement control order of oil hydraulic motor, maintains electromotive power output within a period of time, keep stable.Input power and the output power of oil hydraulic motor match, and maintain being conducive to motor rotary speed near stable equinoctial point, thus acquisition generator exports the stable of electric frequency.
As shown in Figure 10, P
drepresent desired output electric power, P represents the actual electromotive power output of generator, and V represents hydraulic motor displacement control signal, k
p, k
irepresent scaling factor and integral coefficient respectively.By setting up oil hydraulic motor, generator from hydraulic motor displacement V to the transfer function of electromotive power output; Scaling factor k is regulated according to control overflow
pwith integral coefficient k
i, obtain displacement control signal V.
In order to ensure that control algorithm can not cause hydraulic motor rotary speed overshoot in adjustment process, in control flow, each cycle all needs the output shaft torque detecting oil hydraulic motor, when motor torque is greater than 75% of pull-out torque, motor swashplate angle is reduced to 50% within the shortest time and suspends aforementioned proportion integral control; When hydraulic motor output shaft torque is less than fully loaded moment of torsion, restart above-mentioned proportional plus integral control.When motor torque is greater than 90% of pull-out torque, the swash plate angle of oil hydraulic motor is reduced to 0 within the shortest time, and turns off oil hydraulic motor entrance oil circuit electrically-controlled valve, forced stoppage.
The flow chart of the displacement control of the oil hydraulic motor that Figure 11 provides for another embodiment of the present invention; The control schematic diagram of the discharge capacity of the oil hydraulic motor that Figure 12 provides for another embodiment of the present invention.
As shown in figure 11, the running state data of the acquisition Wave energy generating system in step 100, is specially:
Step 104, detects displacement and speed, output generator current and the voltage of hydraulic cylinder piston;
The discharge capacity of the hydraulic control motor in step 200 is specially:
Step 204, desired pressure is obtained according to the displacement of the piston rod detected and speed, using the proportional plus integral control amount of the difference of desired pressure and actual hydraulic pressure pressure as the desired output mechanical output of oil hydraulic motor, obtain the desired output electric power of generator according to described desired output mechanical output value, obtain the actual electromotive power output of generator according to output generator current and voltage;
Step 304, according to the difference of desired output electric power and actual electromotive power output, passing ratio integral control obtains the control signal of the discharge capacity of oil hydraulic motor, exports electric frequency and power keeps stable to control generator, and the working pressure of hydraulic circuit for regulating.
Shown in Figure 12, exporting electricity quality control to take into account, adopting the mode of two close cycles to realize, pre in Figure 12
drepresent the expectation working pressure according to piston rod movement state computation, pre represents the working pressure of current oil hydraulic circuit, P
drepresent desired output electric power, P represents actual electromotive power output, and V represents hydraulic motor displacement control signal, k
p, k
irepresent ratio respectively, integral coefficient.
Externally close in draught control method at above-mentioned oil hydraulic cylinder, working pressure equaled to the external resistance of oil hydraulic cylinder and is multiplied by piston equivalent cross-sectional area, if can within a period of time smooth working pressure, then what can realize external resistance more subtly is discrete.
One of ordinary skill in the art will appreciate that: all or part of step realizing above-mentioned each embodiment of the method can have been come by the hardware that programming instruction is relevant.Aforesaid program can be stored in a computer read/write memory medium.This program, when performing, performs the step comprising above-mentioned each embodiment of the method; And aforesaid storage medium comprises: ROM, RAM, magnetic disc or CD etc. various can be program code stored medium.
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. a Wave energy generating system, is characterized in that, comprises the raft body be hinged, the oil hydraulic cylinder of multiple parallel connection and control integration valve, high pressure accumulator, oil hydraulic motor, generator and control system;
The piston rod of described multiple oil hydraulic cylinder is connected with a raft body, the cylinder body of described multiple oil hydraulic cylinder is connected with another raft body, each chamber of described multiple oil hydraulic cylinder is communicated with described control integration valve respectively, the import of described high pressure accumulator is communicated with described control integration valve, the outlet of described high pressure accumulator and the inlet communication of described oil hydraulic motor, the outlet of described oil hydraulic motor is communicated with low-pressure reservoir, and described low-pressure reservoir is communicated with described control integration valve;
Described control system is connected with described control integration valve, to control described control integration Vavle switching oil circuit, controls the oil hydraulic cylinder quantity of access oil hydraulic circuit; Described control system is connected with the electrically-controlled valve of described high pressure accumulator entrance point, to control the accumulation of energy capacity of described high pressure accumulator; Described control system is connected with described oil hydraulic motor, to control the discharge capacity of described oil hydraulic motor.
2. Wave energy generating system according to claim 1, is characterized in that, the quantity of described oil hydraulic cylinder is four, and described oil hydraulic cylinder comprises rod chamber and rodless cavity; Described control integration valve comprises four groups of control valves, and often organize control valve and comprise two electrically-controlled valve and four one-way valves, described electrically-controlled valve is normally open valve;
First electrically-controlled valve is arranged on the low pressure oil way between the rodless cavity of described oil hydraulic cylinder and described low-pressure reservoir, first one-way valve is arranged on the high-pressure oil passage between the rodless cavity of described oil hydraulic cylinder and described high pressure accumulator, second one-way valve is arranged on the low pressure oil way between the rodless cavity of described oil hydraulic cylinder and described low-pressure reservoir, described first one-way valve and the second one-way valve reverse;
Second electrically-controlled valve is arranged on the low pressure oil way between the rod chamber of described oil hydraulic cylinder and described low-pressure reservoir, 3rd one-way valve is arranged on the high-pressure oil passage between the rod chamber of described oil hydraulic cylinder and described high pressure accumulator, 4th one-way valve is arranged on the low pressure oil way between the rod chamber of described oil hydraulic cylinder and described low-pressure reservoir, described 3rd one-way valve and the 4th one-way valve reverse;
Described control system is connected with described first electrically-controlled valve, the second electrically-controlled valve, and described control system controls the first electrically-controlled valve and the second electrically-controlled valve opening and closing, to control the oil hydraulic cylinder quantity accessing oil hydraulic circuit.
3. Wave energy generating system according to claim 1 and 2, is characterized in that, the oil circuit between described oil hydraulic motor outlet end and described low-pressure reservoir is provided with solenoid valve; Oil circuit between described high pressure accumulator and described solenoid valve is provided with proportional throttle valve; Eduction valve is provided with between described high pressure accumulator and described low-pressure reservoir;
Described control system is connected with described solenoid valve, proportional throttle valve, described control system control described solenoid valve must not electricity time, described high pressure accumulator is to described oil hydraulic motor input hydraulic pressure oil; When described control system Controlling solenoid valve obtains electric, described proportional throttle valve by described oil hydraulic motor short circuit, and consumes hydraulic energy.
4. Wave energy generating system according to claim 1 and 2, it is characterized in that, described high pressure accumulator comprises the accumulator of two groups of parallel connections, and first group of accumulator comprises accumulation of energy bottle, second group of accumulator comprises accumulation of energy bottle and gas cylinder, and described gas cylinder is communicated with the accumulation of energy bottle of described second group of accumulator;
The entrance point of described first group of accumulator and second group of accumulator is provided with electrically-controlled valve, and described control system controls described electrically-controlled valve and opens or close, to control quantity and the form of the high pressure accumulator accessing hydraulic system oil circuit.
5. Wave energy generating system according to claim 1 and 2, is characterized in that, described oil hydraulic motor is for becoming displacement motor, and described generator is induction generator; The output shaft of described oil hydraulic motor is connected with the input shaft of described generator.
6. based on a controlling method for the Wave energy generating system as described in any one of Claims 1 to 5, it is characterized in that, comprising:
Obtain the running state data of Wave energy generating system;
The external conjunction resistance of described oil hydraulic cylinder, the accumulation of energy capacity of described high pressure accumulator and the discharge capacity of described oil hydraulic motor is controlled according to described running state data.
7. controlling method according to claim 6, is characterized in that, the running state data of described acquisition Wave energy generating system, is specially:
Detect the position of hydraulic cylinder piston rod and the oil pressure of speed, high pressure accumulator and low-pressure reservoir;
The external conjunction resistance of the described oil hydraulic cylinder of described control, is specially:
Calculate continuous print according to the position of described hydraulic cylinder piston rod and speed to expect externally to close resistance, reality that each oil hydraulic cylinder can provide is obtained to external resistance according to the oil pressure of described high pressure accumulator and low-pressure reservoir, by some combining forms of multiple oil hydraulic cylinder, approach continuous print with discrete reality to external resistance to expect externally to close resistance, obtain the control signal controlling control integration valve;
Control the opening and closing of the electrically-controlled valve in described control integration valve according to described control signal, to control the quantity of the oil hydraulic cylinder accessed in oil hydraulic circuit, realize the control that oil hydraulic cylinder externally closes resistance.
8. controlling method according to claim 6, is characterized in that, the running state data of described acquisition Wave energy generating system, is specially: receive current Wave energy signal;
The accumulation of energy capacity of the described high pressure accumulator of described control is specially:
The control signal of the electrically-controlled valve controlling high pressure accumulator entrance point is obtained according to described current Wave energy signal;
Described electrically-controlled valve opening and closing is controlled, to control type and the quantity of the high pressure accumulator accessed in oil hydraulic circuit according to described control signal.
9. controlling method according to claim 6, is characterized in that, the running state data of described acquisition Wave energy generating system, is specially:
Detect the output shaft torque of described oil hydraulic motor, output generator current and voltage, high pressure accumulator and the oil pressure of low-pressure reservoir and the output flow of high pressure accumulator;
The discharge capacity of described hydraulic control motor is specially:
If the output shaft torque of described oil hydraulic motor is greater than 90% of generator pull out torque, then the swash plate angle of hydraulic control motor is 0, closes the control valve of oil hydraulic motor import;
If the output shaft torque of described oil hydraulic motor is greater than 50% of generator pull out torque and is less than or equal to 90%, then the swash plate angle of hydraulic control motor reduces 50%;
If the output shaft torque of described oil hydraulic motor is less than generator full-load torque, then obtain the desired output electric power of generator according to the oil pressure of the high pressure accumulator that detects and low-pressure reservoir and high pressure accumulator output flow, obtain actual electromotive power output according to output generator current and voltage; The deviation of desired output electric power and real output is carried out proportional integral computing, obtains the displacement control signal of oil hydraulic motor, export electric frequency and power keep stable to control generator.
10. controlling method according to claim 6, is characterized in that, the running state data of described acquisition Wave energy generating system, is specially:
Detect displacement and speed, output generator current and the voltage of hydraulic cylinder piston rod;
The discharge capacity of described hydraulic control motor is specially:
Desired pressure value is obtained according to the displacement of the piston rod detected and speed, using the proportional plus integral control amount of the difference of desired pressure and actual hydraulic pressure pressure as the desired output mechanical output of oil hydraulic motor, obtain the desired output electric power of generator according to described desired output mechanical output, obtain the actual electromotive power output of generator according to output generator current and voltage;
According to the difference of desired output electric power and actual electromotive power output, passing ratio integral control obtains the control signal of the discharge capacity of oil hydraulic motor, exports electric frequency and power keeps stable to control generator, and the working pressure of hydraulic circuit for regulating.
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| CN103953493A (en) * | 2014-04-14 | 2014-07-30 | 大连富远工业有限公司 | Python-shaped wave power generation device |
| CN104819093B (en) * | 2015-05-18 | 2017-03-08 | 国网山东省电力公司经济技术研究院 | Reciprocating wave power generating device |
| JP6967224B2 (en) * | 2018-02-07 | 2021-11-17 | 国立大学法人 東京大学 | Wave power generation system |
| KR102027552B1 (en) * | 2018-03-09 | 2019-10-01 | 주식회사 인진 | Wave energy generation system and controlling method for the wave energy generation system |
| CN109944834A (en) * | 2019-03-27 | 2019-06-28 | 山东大学 | A kind of floating body can automatic dive and floating wave energy generating set hydraulic control system and control method |
| CN110259631B (en) * | 2019-05-09 | 2023-10-27 | 合肥工业大学 | Raft type wave energy power generation device and control method |
| CN112049750B (en) * | 2020-09-25 | 2022-03-25 | 湖南大学 | Novel raft type wave energy conversion device |
| CN112539134A (en) * | 2020-12-08 | 2021-03-23 | 南方电网电力科技股份有限公司 | Energy conversion layered optimization control system and method for wave energy power generation device |
| CN114109929B (en) * | 2021-11-23 | 2023-02-28 | 山东大学 | Integrated hydraulic conversion oil cylinder applied to wave power generation device and using method thereof |
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