CN108661850A - A kind of tether type ocean current power generation machine control method of motion trace - Google Patents
A kind of tether type ocean current power generation machine control method of motion trace Download PDFInfo
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- CN108661850A CN108661850A CN201810333236.5A CN201810333236A CN108661850A CN 108661850 A CN108661850 A CN 108661850A CN 201810333236 A CN201810333236 A CN 201810333236A CN 108661850 A CN108661850 A CN 108661850A
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- generator
- circular arc
- line segment
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03B—MACHINES OR ENGINES FOR LIQUIDS
- F03B15/00—Controlling
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03B—MACHINES OR ENGINES FOR LIQUIDS
- F03B13/00—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates
- F03B13/12—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates characterised by using wave or tide energy
Abstract
A kind of tether type ocean current power generation machine control method of motion trace, the movement locus are " 8 " zigzag motion track, and steps are as follows：(1) movement locus is decomposed into the outer tangent section of two circular arcs and 4 circular arcs, and by circular arc it is discrete be line segment connected in sequence, and then be sequentially and the connected position in first and last area by entire movement locus region division；(2) generator is during the motion, the position being presently according to generator carries out movement locus control and whether real-time judge engine crosses current position, if crossing current position, next position is sequentially switched to according to step (1)：If generator is in the position where the outer tangent section of circular arc, the course and the direction of outer tangent section that control generator are consistent；If generator is in the position where the discrete line segment of circular arc, the line in the course of the generator circular arc center of circle residing for the generator current location to position is controlled, and is directed toward the direction of motion.
Description
Technical field
The present invention relates to a kind of tether type ocean current power generation machine figure of eight control method of motion trace.
Background technology
Tether type ocean current power generation machine be it is a kind of power generating turbine is hung over below wing, wing by mooring line tie up to one it is solid
Determine on anchor point, the generator moved back and forth using the direction of advance lift component that ocean current generates on wing.This generator
Power generating turbine import water velocity is up to the several times of ocean current speed, and the power generating turbine import of traditional fixed ocean current power generation machine
Water velocity is only capable of reaching ocean current speed.Since generating capacity is directly proportional to the cube of power generating turbine import water velocity, it is
The generating capacity of rope type ocean current power generation machine generating capacity compared with fixed ocean current power generation machine is greatly improved, and under low speed ocean current
Starting capability it is stronger.How to control generator to move back and forth in ocean current, to persistently generate the fortune for being several times as much as ocean current speed
Dynamic speed and turbine inlet water velocity, are the key technologies of tether type ocean current power generation machine.Mooring line when to avoid moving back and forth
Occur, from winding, generator to can control to move with figure of eight track in ocean current.
Invention content
The technology of the present invention solves the problems, such as：Design a kind of tether type ocean current power generation machine figure of eight control method of motion trace.
This method logic is simple, amount of storage is small, convenient for realizing in embedded systems；The course angle of generation instructs smooth no saltus step, and
It is insensitive to initial position and speed, stable, strong robustness.
Technical scheme of the present invention：A kind of tether type ocean current power generation machine control method of motion trace, the movement locus
For " 8 " zigzag motion track, steps are as follows：
(1) movement locus is decomposed into the outer tangent section of two circular arcs and 4 circular arcs, and circular arc is discrete to be sequentially connected with
Line segment, and then be sequentially and the connected position in first and last area by entire movement locus region division；
(2) during the motion, the position being presently according to generator carries out movement locus control and real-time to generator
Judge whether engine crosses current position, if crossing current position, next area is sequentially switched to according to step (1)
Position：If generator is in the position where the outer tangent section of circular arc, the course and the direction of outer tangent section that control generator are protected
It holds consistent；If generator is in the position where the discrete line segment of circular arc, the course for controlling generator is worked as perpendicular to generator
The line in the circular arc center of circle residing for front position to position, and it is directed toward the direction of motion.
Further, it according to the generator direction of motion, will entirely be moved by the vertical line of every line segment terminal in step (1)
Track regions are divided into sequentially and the connected position in first and last area.
Further, it requires to be connected with the outer tangent section of circular arc for line segment connected in sequence by circular arc is discrete in step (1)
The outer tangent section design of the discrete line segment of circular arc and circular arc that connect is point-blank.
Further, in step (1) that circular arc is discrete for the corresponding circle of each line segment discrete in line segment connected in sequence
Heart angle is 15-45 °.
Further, the ratio of arc radius length and the circumscribed line segment length of the circular arc is 0.1-1 in step (1).Into one
Step, the ratio of two arc radius length is 0.1-10 in step (1).
Further, the length ratio of two outer tangent sections of the same circular arc is 0.5-2.
Further, by judging whether generator crosses the vertical line of current position line segment terminal to determine whether more excessive
Preceding position.
Further, the vector that generator position is directed toward by current position line segment terminal is judged, with current position line segment end
Point is directed toward the dot product of the vector of line segment starting point, current position is then had passed past if negative, still in current position if non-negative.
Further, the control of movement locus of generator is realized by tracking course angle instruction, wherein the boat of different positions
It is calculated to angle instruction by following manner：
It enables, psiC instructs for course angle, it is assumed that P is located at PnPn+1Position, then
Work as PnPn+1Position be circular arc outer tangent section where position when,
PsiC=arctan2 (Pn+1y-Pny,Pn+1z-Pnz) (2)
Shown in psiC calculations such as formula (2), wherein PnY, PnZ is respectively point PnY-coordinate and z coordinate；
Work as PnPn+1When position is the position where the discrete line segment of circular arc and the generator direction of motion is clockwise direction,
PsiC=π-arctan2 (Pz, Py-O1y) (3)
Py, Pz are respectively the y-coordinate and z coordinate of point P, O1Y is the y-coordinate in the circular arc center of circle where current position；
Work as PnPn+1When position is the position where the discrete line segment of circular arc and the generator direction of motion is counter clockwise direction,
PsiC=-arctan2 (Pz, Py-O2y) (4)
O2Y is the y-coordinate in the circular arc center of circle where current position；
It, should be as shown in formula (5) to psiC processing if formula (2)~formula (4) calculated psiC is negative：
PsiC=psiC+2 π (5).
The present invention compared with prior art the advantages of it is as follows：This method by figure of eight Its Track Design be 2 circular arcs and
The tangent section of 4 circular arcs, and circular arc is discrete for line segment connected in sequence；In generator motion process, generated electricity by calculating
The position relationship of machine and this group of line segment determines and switches the directional command of generator；By the intersegmental angular relationship of design lines come
Ensure smooth no saltus step when directional command switching.This method logic is simple, amount of storage is small, convenient for realizing in embedded systems；
The course angle of generation instructs smooth no saltus step, and, stable, strong robustness insensitive to initial position and speed.
Description of the drawings
Fig. 1 figure of eight movement locus and its discrete line segment schematic diagram
Fig. 2 figure of eight actual path schematic diagrames
Fig. 3 " 8 " course angle instructs schematic diagram
Specific implementation mode
The present invention relates to a kind of tether type ocean current power generation machine " 8 " zigzag motion method for controlling trajectory, and steps are as follows：
(1) by the outer tangent section that " 8 " font Its Track Design is two circular arcs and 4 circular arcs, and by circular arc is discrete it is
Line segment connected in sequence；The vertical line of the outer tangent section of circular arc, the discrete lines segment endpoint of circular arc vertical line by track near zone draw
It is divided into position connected in sequence, and last position is connected with first position；In order to avoid saltus step when course angle, which instructs, to be switched, with circular arc
The discrete line segment of circular arc that is connected of outer tangent section must be designed point-blank with the outer tangent section of circular arc, no matter power generation in this way
Machine can avoid the saltus step of directional command according to what kind of direction setting in motion.If the movement of certain pre-set generator
Direction then only needs the circular arc being connected with the outer tangent section of circular arc that circumscribed line segment direction is moved to by circular arc line segment is discrete
The outer tangent section of line segment and circular arc designs point-blank.
It is above-mentioned by circular arc it is discrete for the discrete corresponding central angle of each line segment in line segment connected in sequence be 15-45 °.
(2) generator in the process of running, calculates the position relationship of generator and above-mentioned each group line segment to determine and switch
The course angle of generator instructs：Especially by judging whether the vertical line for crossing current position line segment terminal to determine whether crossing this
Position crosses the position and is then switched to next position.First position is then switched to when crossing last position, specifically：Judge by current
Position line segment terminal is directed toward the vector of generator position, and the dot product of the vector of line segment starting point is directed toward with current position line segment terminal,
Current position is then had passed past if negative, still in current position if non-negative.
By judging that generator is presently in position, generator is controlled, specifically：When generator is located at circular arc
When outer tangent section position, the course of generator and the direction of outer tangent section are consistent；When generator is located at the discrete lines of circular arc
When section position, the course of generator is perpendicular to generator current location to the line in the residing circular arc center of circle.
Embodiment
Fig. 1 gives figure of eight movement locus and its signal of discrete line segment in zoy coordinate systems, wherein y-coordinate side
To be parallel to the direction of two circular arc circle center line connectings.Figure of eight movement locus is designed by circular arc P2P6P10, circular arc P12P16P20、
Line segment P1P2、P1P10、P1P12、P1P20Composition.Wherein P1P2、P1P10It is circular arc P2P6P10Tangent section, point of contact is respectively P2、P10；
P1P12、P1P20It is circular arc P12P16P20Tangent section, point of contact is respectively P12、P20。
By circular arc P2P6P10With circular arc P12P16P20It is separated into several line segments connected in sequence respectively.In this example, by circular arc
P2P6P10Discrete is P2P3、P3P4、...、P9P10Totally 8 line segments, equally by circular arc P12P16P20Discrete is P12P13、P13P14、...、
P19P20Totally 8 line segments.Wherein, the discrete line segment of circular arc being connected with the tangent section of circular arc should be kept straight at one with tangent section
On line, in this example, P is kept2P3With P1P2In straight line, P9P10With P10P11In straight line, P12P13With P11P12It is straight at one
Line, P19P20With P20P21In straight line, point P here1、P11、P21It is the point overlapped.If certainly according to movement side shown in Fig. 3
To, only need to be by P9P10With P10P11Design is in straight line, P19P20With P20P21Design can meet course angle in straight line and refer to
Enable anti-saltus step requirement.
Dotted line A2B2With line segment P1P2Vertically, and pass through P1P2Terminal P2, similarly, dotted line A3B3With line segment P2P3Vertically, and
Pass through P2P3Terminal P3..., dotted line A10B10With line segment P9P10Vertically, and pass through P9P10Terminal P10....These vertical line sections
Movement locus near zone is divided into the position of interconnection, claims vertical line A2B2And A3B3Between position be P2P3Position, vertical line
A3B3And A4B4Between position be P3P4Position ..., totally 20 positions.
It is assumed that generator initial position P is in line segment P1P2Near, i.e., in P1P2In position, in generator motion process, lead to
It crosses and judges vector P2P and vector P2P1Vector dot product whether be to bear to judge whether P crosses vertical line A2B2, that is, left P1P2Area
Position is located at P2P3Position.Vectorial P2P and vector P2P1Vector dot product such as formula (1) shown in.Wherein P1Y, P1Z is point P1Y-coordinate
And z coordinate, P2Y, P2Z is point P2Y-coordinate and z coordinate, Py, Pz be point P y-coordinate and z coordinate.
If vector P2P and vector P2P1Vector dot product be negative, then P has passed past vertical line A2B2, it is located at P2P3Position, otherwise position
In P1P2Position.If having been located in P2P3Position then constantly judges vector P in generator motion process3P and vector P3P2Vector
Whether dot product is to bear to judge whether P crosses vertical line A3B3..., and so on.When P is located at P20P21When position, transported in generator
During dynamic, whether P has been left still with vector dot product condition judgment20P21Position, and it is located at P1P2Position.
PsiC instructs for course angle, and P is located at PnPn+1Position, then
(1), work as n=1, when 10,11,20, shown in psiC calculations such as formula (2), wherein PnY, PnZ is respectively point PnY
Coordinate and z coordinate.
PsiC=arctan2 (Pn+1y-Pny,Pn+1z-Pnz) (2)
(2), as 2≤n≤9, shown in psiC calculations such as formula (3), wherein Py, Pz are respectively the y-coordinate and z of point P
Coordinate, O1Y is circular arc P2P6P10Center of circle y-coordinate.
PsiC=π-arctan2 (Pz, Py-O1y) (3)
(3), as 12≤n≤19, shown in psiC calculations such as formula (4), wherein O2Y is circular arc P12P16P20Center of circle y
Coordinate.
PsiC=-arctan2 (Pz, Py-O2y) (4)
(4) if, formula (2)~formula (4) calculated psiC be it is negative, should be as shown in formula (5) to psiC processing.
PsiC=psiC+2 π (5)
Fig. 2 provides the course angle instruction of this method generation, it is seen that course angle instructs smooth no saltus step.
Fig. 3 provides the actual motion track of the lower generator of this method control.From the figure 3, it may be seen that working as starting point and movement locus
When apart from each other, this method can still control generator and be moved back and forth with figure of eight track.It can be seen that this method to initial position not
Sensitivity, stable, strong robustness.
The non-detailed description of the present invention is known to the skilled person technology.
Claims (10)
1. a kind of tether type ocean current power generation machine control method of motion trace, the movement locus is " 8 " zigzag motion track,
It is characterized in that steps are as follows：
(1) movement locus is decomposed into the outer tangent section of two circular arcs and 4 circular arcs, and circular arc is discrete for line connected in sequence
Section, and then be sequentially and the connected position in first and last area by entire movement locus region division；
(2) generator during the motion, movement locus control and real-time judge is carried out according to the position that generator is presently in
Whether engine crosses current position, if crossing current position, next position is sequentially switched to according to step (1)：If
When generator is in the position where the outer tangent section of circular arc, the course and the direction of outer tangent section that control generator keep one
It causes；If generator is in the position where the discrete line segment of circular arc, the course of generator is controlled perpendicular to generator present bit
The line to the circular arc center of circle residing for position is set, and is directed toward the direction of motion.
2. according to the method described in claim 1, it is characterized in that：According to the generator direction of motion, pass through every in step (1)
Entire movement locus region division is sequentially and the connected position in first and last area by the vertical line of line segment terminal.
3. according to the method described in claim 1, it is characterized in that：It is in step (1) that circular arc is discrete for line segment connected in sequence
It is required that the outer tangent section design of the discrete line segment of circular arc and circular arc that are connected with the outer tangent section of circular arc is point-blank.
4. method according to claim 1 or 3, it is characterised in that：It is in step (1) that circular arc is discrete for line connected in sequence
The discrete corresponding central angle of each line segment is 15-45 ° in section.
5. according to the method described in claim 1, it is characterized in that：Arc radius length and the circular arc is circumscribed in step (1)
The ratio of line segment length is 0.1-1.
6. according to the method described in claim 1, it is characterized in that：The ratio of two arc radius length is 0.1- in step (1)
10。
7. according to the method described in claim 1, it is characterized in that：The length ratio of two outer tangent sections of the same circular arc is
0.5-2。
8. according to the method described in claim 1, it is characterized in that：By judging it is whole whether generator crosses current position line segment
The vertical line of point is to determine whether cross current position.
9. according to the method described in claim 5, it is characterized in that：Judge to be directed toward generator position by current position line segment terminal
Vector, the dot product of the vector of line segment starting point is directed toward with current position line segment terminal, current position is then had passed past if negative, if not
It is negative then still in current position.
10. according to the method described in claim 1, it is characterized in that：Realize that generator moves rail by tracking course angle instruction
The control of mark, wherein the course angle instruction of different positions is calculated by following manner：
It enables, psiC instructs for course angle, it is assumed that P is located at PnPn+1Position, then
Work as PnPn+1Position be circular arc outer tangent section where position when,
PsiC=arctan2 (Pn+1y-Pny,Pn+1z-Pnz) (2)
Shown in psiC calculations such as formula (2), wherein PnY, PnZ is respectively point PnY-coordinate and z coordinate；
Work as PnPn+1When position is the position where the discrete line segment of circular arc and the generator direction of motion is clockwise direction,
PsiC=π-arctan2 (Pz, Py-O1y) (3)
Py, Pz are respectively the y-coordinate and z coordinate of point P, O1Y is the y-coordinate in the circular arc center of circle where current position；
Work as PnPn+1When position is the position where the discrete line segment of circular arc and the generator direction of motion is counter clockwise direction,
PsiC=-arctan2 (Pz, Py-O2y) (4)
O2Y is the y-coordinate in the circular arc center of circle where current position；
It, should be as shown in formula (5) to psiC processing if formula (2)~formula (4) calculated psiC is negative：
PsiC=psiC+2 π (5).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810333236.5A CN108661850B (en) | 2018-04-13 | 2018-04-13 | Motion trail control method for rope type ocean current generator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810333236.5A CN108661850B (en) | 2018-04-13 | 2018-04-13 | Motion trail control method for rope type ocean current generator |
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