CN113357081B - Method and device for inhibiting dynamic shaking of offshore floating type wind power generation equipment - Google Patents

Method and device for inhibiting dynamic shaking of offshore floating type wind power generation equipment Download PDF

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CN113357081B
CN113357081B CN202110368535.4A CN202110368535A CN113357081B CN 113357081 B CN113357081 B CN 113357081B CN 202110368535 A CN202110368535 A CN 202110368535A CN 113357081 B CN113357081 B CN 113357081B
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air
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CN113357081A (en
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从飞云
黄新宇
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Zhejiang University ZJU
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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
    • F03D—WIND MOTORS
    • F03D7/00—Controlling wind motors 
    • F03D7/02—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/0264—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor for stopping; controlling in emergency situations
    • F03D7/0268—Parking or storm protection
    • 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
    • F03D—WIND MOTORS
    • F03D17/00—Monitoring or testing of wind motors, e.g. diagnostics
    • 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
    • F03D—WIND MOTORS
    • F03D7/00—Controlling wind motors 
    • F03D7/02—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/0296—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor to prevent, counteract or reduce noise emissions
    • 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
    • F03D—WIND MOTORS
    • F03D7/00—Controlling wind motors 
    • F03D7/02—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/04—Automatic control; Regulation
    • F03D7/042—Automatic control; Regulation by means of an electrical or electronic controller
    • F03D7/043—Automatic control; Regulation by means of an electrical or electronic controller characterised by the type of control logic
    • F03D7/045—Automatic control; Regulation by means of an electrical or electronic controller characterised by the type of control logic with model-based controls
    • 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
    • F03D—WIND MOTORS
    • F03D9/00—Adaptations of wind motors for special use; Combinations of wind motors with apparatus driven thereby; Wind motors specially adapted for installation in particular locations
    • F03D9/10—Combinations of wind motors with apparatus storing energy
    • F03D9/11—Combinations of wind motors with apparatus storing energy storing electrical energy
    • 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
    • F03D—WIND MOTORS
    • F03D9/00—Adaptations of wind motors for special use; Combinations of wind motors with apparatus driven thereby; Wind motors specially adapted for installation in particular locations
    • F03D9/10—Combinations of wind motors with apparatus storing energy
    • F03D9/17—Combinations of wind motors with apparatus storing energy storing energy in pressurised fluids
    • 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
    • Y02E10/70—Wind energy
    • Y02E10/72—Wind turbines with rotation axis in wind direction
    • 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
    • Y02E10/70—Wind energy
    • Y02E10/727—Offshore wind turbines
    • 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
    • Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02E60/16—Mechanical energy storage, e.g. flywheels or pressurised fluids
    • 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
    • Y02E70/00—Other energy conversion or management systems reducing GHG emissions
    • Y02E70/30—Systems combining energy storage with energy generation of non-fossil origin

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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Wind Motors (AREA)

Abstract

The invention provides a dynamic shaking suppression device for offshore floating type wind power generation equipment, which comprises an air compression device, an underwater air nozzle device, a control mainboard, a wind power generation equipment electricity storage module, a wind energy electricity storage device, an inclination angle sensor and a controller, wherein the air compression and air storage device is arranged near a generator and a blade of the wind power generation equipment; according to the invention, a jet reaction torque control model is established to form a reverse reaction torque for inhibiting the wind tower from shaking, so that the large-angle shaking inhibition of the wind tower is realized, and the safety reliability and the environmental adaptability of the floating offshore wind power are improved. The invention can utilize wind energy to store electricity to store compressed air under normal working condition; when the wind power generation device faces severe sea conditions, the auxiliary device can output reaction force to inhibit inclination, and the safety of the wind power generation device is guaranteed to the maximum extent.

Description

Method and device for inhibiting dynamic shaking of offshore floating type wind power generation equipment
Technical Field
The invention relates to the field of wind power generation, in particular to a method and a device for balancing offshore floating type wind power generation equipment.
Background
With the continuous progress of modern society and the continuous development of national economy, the problems caused by energy crisis are increasingly serious. In the face of the increasing severity of the energy crisis, countries all over the world are searching new energy resources to replace traditional energy resources, new energy resources represented by wind energy, solar energy, biomass energy, ocean energy and the like become important targets of energy development at present, and particularly, wind power generation and solar power generation technologies become mature day by day and have occupied an important proportion in the current electric energy use.
The working condition of the wind power generation equipment on the sea is different from that on the land, the floating body can do irregular swinging motion along with sea waves and sea wind, the adverse effects are caused on the power generation efficiency of the wind power generation equipment and the durability of the equipment, and particularly under the severe sea condition, the large-inclination-angle swinging of the wind power generation equipment can cause serious consequences. For example, chinese patent document CN108757338A discloses a floating wind farm stable and anti-typhoon fan system, which is provided with a cylindrical tank fixed on an offshore platform and a hollow inverted cone floating in the cylindrical tank, so that a wind generating set and a supporting tower can be raised or lowered along with the water level change in the cylindrical tank, which is beneficial to timely lowering the position heights of the wind generating set and the supporting tower during the coming of strong wind such as typhoon. For example, chinese patent CN104421107A discloses a deep-sea suspended wind turbine generator set, which comprises a fan structure, a tower and a suspended platform, which are arranged in sequence from top to bottom, wherein the suspended platform is fixed on the sea bottom through a cable; the fan structure comprises a fan blade, a fan shaft and a fan cabin which are transversely connected in sequence; and vibration reduction control devices are arranged in the fan engine room and the suspension platform. The wind generating set can effectively inhibit the vibration caused by sea wind load and sea wave load, and ensure the safe and efficient production of the deep-sea suspended wind generating set; how to actively restrain the floating type wind power generation equipment on the sea from shaking under severe sea conditions has very important significance for developing the open sea wind power generation technology for human beings.
Disclosure of Invention
The invention aims to provide a method and a device for inhibiting dynamic shaking of offshore floating wind power generation equipment.
In order to achieve the purpose, the invention provides the following technical scheme:
the invention provides a dynamic shaking inhibiting device for offshore floating type wind power generation equipment, which comprises an air compression device, an underwater air nozzle device, a wind power storage device, an inclination angle sensor and a controller, wherein the air compression and air storage device is arranged near a generator and a blade of the wind power generation equipment, the underwater air nozzle device is embedded into the bottom of a ballast tank of the wind power generation equipment, and the inclination angle sensor and the controller are positioned in a cabin of the wind power generation equipment.
Preferably, when the wind power generation equipment normally works, the wind energy power storage device and the compressed air storage device are used for compressing and storing air, the air storage device has multiple modes, and specific two modes are given in the text: the first one is that a rotating crank is driven by a rotating shaft of a gear box, and a cylinder piston is pushed by the rotating crank to compress air; the second is to use electrical energy to drive the air compressor while releasing excess electrical energy.
Furthermore, the number of the underwater air nozzle devices is at least four, the height of each underwater air nozzle device is lower than that of a floating body floating center and the gravity center of wind power generation equipment, nozzles of the underwater air nozzle devices are parallel to the horizontal plane, and an included angle between the nozzles of two adjacent underwater air nozzle devices is 90 degrees.
Furthermore, an electromagnetic valve is arranged on the nozzle, and the inclination angle sensor, the electromagnetic valve and the wind energy and power storage device are in electric signal connection.
Further, the air compression device comprises an air injection device, the air injection device comprises a first air injection equipment spray pipe, a second air injection equipment spray pipe, a third air injection equipment spray pipe and a fourth air injection equipment spray pipe, and the first air injection equipment spray pipe, the second air injection equipment spray pipe, the third air injection equipment spray pipe and the fourth air injection equipment spray pipe are respectively connected with the air storage tank through air transmission pipelines; and the first jet equipment spray pipe, the second jet equipment spray pipe, the third jet equipment spray pipe and the fourth jet equipment spray pipe are respectively provided with a first spray pipe valve, a second spray pipe valve, a third spray pipe valve and a fourth spray pipe valve.
The working states of the air injection devices are mutually independent so as to adjust the working posture of the power station, the output power of the air nozzle device is increased along with the increase of the inclination angle of the power station until the shaking amplitude of the power station is smaller than a set threshold value, and the air injection is suspended.
Further, based on the above method for suppressing the dynamic sloshing of the offshore floating wind power generation equipment, the method comprises the following steps:
(1) When the sea condition is good and the wind power station normally operates, the wind energy storage device is used for driving the air compression device to store air;
(2) The inclination angle sensor measures attitude parameters of the generator;
(3) The controller determines the attitude given value in advance, acquires attitude parameters from the sensor, determines thrust required in each direction according to the attitude parameters and the attitude given value, and determines the outlet area S of each air nozzle device according to the required thrust;
(4) Combining an underwater air nozzle device, and establishing a jet reaction torque control model by using a torque balance principle to obtain a tilting torque M generated by the environment (sea waves, sea wind and the like) I And water line area moment of inertia M WP Righting moment M IS Moment M of anchoring system MLA Output torque M of balance system of offshore wind power generation equipment MLA A moment balance formula of the sum of the four;
(5) When the inclination angle of the wind power station exceeds a set threshold value due to overlarge wind power grade or severe sea conditions, the stored air is sprayed out through the underwater air nozzle device, and the output torque M of the balance system of the offshore wind power generation equipment is output SP 。
Preferably, the calculation formula of the outlet area S of the air nozzle device is:
Figure BDA0003008382620000041
wherein S is the exit area;
F SP the thrust is provided for the air injection equipment;
and delta P is the pressure difference between the internal pressure of the gas storage device and the underwater pressure of the nozzle.
Preferably, the controller simulates the influence of sea waves on the wind power equipment through a linear wave theory, a three-dimensional Green function method and a floating type basic motion equation, and counteracts the influence of the sea waves when calculating the wind load; calculating wind load of the wind power equipment during normal power generation and power generation stopping according to ABS specifications and 'design requirements for wind generating sets' (JB/T10300-2001) in China; and (4) taking the buoyancy as a supporting point, calculating the output thrust of each air injection device through moment balance analysis, and sending an instruction.
Preferably, the sensor may acquire an attitude parameter of the wind tower equipment, and the attitude given value includes a roll given value and a pitch given value.
Preferably, the attitude given value may be preset according to an empirical value or a theory. Preferably, the controller determines the attitude set point during the test phase.
According to the comparison between the attitude parameters and the attitude given values, the floating center is taken as a supporting point, the output thrust of each air injection device is calculated through a moment balance formula and a proportional-integral-derivative algorithm, and the nozzle area of each air injection device is determined according to the output thrust; in the working stage of the jet equipment, the nozzle area of each nozzle is adjusted at any time through a proportional integral derivative algorithm until the power generation equipment is restored to balance.
The proportional integral derivative algorithm correction function is:
Figure BDA0003008382620000051
wherein s is 1 The amount to be adjusted, here the orifice area;
G j (s 1 ) Is the adjusted amount;
K P 、K I 、K D the three undetermined parameters need to be determined by adopting a heuristic method depending on an actual scene or by adopting a Ziegler-Nikols method through an experimental method.
Further, in step (2), the attitude parameters include: parameter of bow
Figure BDA0003008382620000053
Roll parameter eta 1 And a pitch parameter η 2 (ii) a The yaw parameter represents the angle of the current yaw drive, the roll parameter eta 1 Representing the current angle of the wind power plant swinging on the x-axis, a pitching parameter eta 2 Representing the current angle of the wind power plant swinging on the y-axis;
therefore, the sensor can output the current inclination angle theta of the wind power generation equipment as follows:
Figure BDA0003008382620000052
further, in the step (3), the outlet area of the underwater air nozzle device ensures the thrust output in the direction by adjusting the output power of the nozzle.
Further, in the step (4),
moment of tilt M I Horizontal component F of the sum of the ambient moments env Generating a tilting moment M I The calculation formula of (2) is as follows:
Figure BDA0003008382620000061
wherein, F env Is the sum of environmental forces;
Figure BDA0003008382620000062
is the sum of environmental forces F env The distance from the action point to the floating center;
θ 3 the inclination angle of the wind power generation equipment to the vertical direction is shown;
output torque M of offshore wind power generation equipment balance system SP The calculation formula of (c) is:
M SP ＝F SP z SP θ 3 ；
wherein, F SP The thrust is provided for the air injection equipment;
z SP is the jet plant depth;
θ 3 the inclination angle of the wind power generation equipment to the vertical direction is shown;
when the wind power generation equipment is in a small inclination angle approximate value, the area inertia moment M of a waterline WP The calculation formula of (A) is as follows:
M WP ＝ρgA w θ 0 ；
wherein A is w Is the area of the water plane;
θ 0 is the yaw tilt angle;
ρ is the seawater density;
g is the acceleration of gravity;
when the wind power generation equipment is inclined to the vertical direction by the angle theta 3 Within 10-15 degrees, applying an initial stability formula to correct the moment M IS The calculation formula is as follows:
M IS ＝-Dhθ 3 ；
wherein D is the displacement;
θ 3 the inclination angle of the wind power generation equipment to the vertical direction is shown;
h is the transverse metacentric height (i.e., the metacentric height);
the negative sign indicates the direction of the righting moment opposite to the tilt angle;
assuming that the mooring line is a common catenary, and calculating to obtain the moment M of the mooring system by using a catenary formula MLA Comprises the following steps:
Figure BDA0003008382620000071
wherein S is the catenary length;
w is the superficial gravity;
z MLA is the depth of the anchor system action point;
θ 1 is the included angle between the tangent line at the bottom of the catenary of the anchoring system and the horizontal plane;
θ 2 is the included angle between the tangent line at the top of the catenary of the anchoring system and the horizontal plane;
output torque M of offshore wind power generation equipment balance system SP The calculation formula is as follows:
M SP ＝F SP z SP θ 3 ；
wherein, F SP The air injection equipment provides thrust;
z SP is the jet plant depth;
θ 3 the inclination angle of the wind power generation equipment to the vertical direction is shown;
under the basis of the rolling stress analysis of the floating body, the yaw inclination angle theta of the wind power generation equipment is measured 0 Within 8 degrees, the balance relation of the offshore wind power generation equipment obtained by the moment balance principle is as follows:
M I ＝M WP +M IS +M MLA +M SP ；
namely that
Figure BDA0003008382620000072
Figure BDA0003008382620000081
Further, the output power of the jet equipment is linearly increased between the initial damage angle and the severe damage angle of the wind power generation equipment, and the jet equipment provides thrust F SP The calculation formula of (c) is:
Figure BDA0003008382620000082
wherein θ is the current inclination angle of the wind power generation equipment;
ω 1 is the angle at which the wind power generation equipment begins to be damaged;
ω 2 is the acute damage angle of the wind power generation equipment;
F SPmax the maximum output force of underwater jet equipment is designed.
Further, in the step (5), the set threshold comprises a cartesian coordinate system and an attitude given value; the Cartesian coordinate system is an absolute coordinate system, the vertical direction is taken as a z axis, and the positive direction of the wind wheel is taken as a y axis when the wind wheel is static; the attitude given value comprises the initial damage angle omega of the wind power generation equipment 1 Acute damage angle omega of wind power generation equipment 2 。
The invention has the following technical effects:
(1) According to the invention, the control model of the jet reaction torque is established to form the reverse reaction torque for inhibiting the wind tower from shaking, so that the large-angle shaking inhibition of the wind tower is realized, the safety reliability and the environment adaptability of the floating offshore wind power are improved, and the adaptability to severe sea conditions is strong.
(2) The invention can utilize wind energy to store electricity to store compressed air under normal working condition; when the wind power generation device faces severe sea conditions, the auxiliary device can output reaction force to inhibit inclination, the safety of the wind power generation device is guaranteed to the maximum extent, and abundant wind energy on the sea can be effectively and reasonably utilized.
(3) The thrust source for inhibiting the wind tower from shaking is air, so that the wind tower has no pollution to the environment when being discharged underwater, and can drive nearby fish swarms at the same time, thereby protecting underwater equipment of the wind power generation equipment from being interfered by marine organisms.
Drawings
FIG. 1 is a flow chart of a wind power plant balancing technique of the present invention.
Fig. 2 shows the position of the underwater jet device according to the invention.
FIG. 3 is a flow chart of a method of practicing the present invention.
FIG. 4 is a force analysis of the wind power plant of the present invention.
Figure 5 is a simplified simulation of the mooring line of the present invention.
FIG. 6 is a simulation of the linkage state of the underwater jets of the present invention.
Detailed Description
The following detailed description of the embodiments of the present invention is provided in conjunction with the accompanying drawings, and it should be noted that the embodiments are merely illustrative of the present invention and should not be considered as limiting the invention, and the purpose of the embodiments is to make those skilled in the art better understand and reproduce the technical solutions of the present invention, and the protection scope of the present invention should be subject to the scope defined by the claims.
As shown in fig. 1, the invention provides a dynamic sloshing suppression device for an offshore floating wind power generation device, which comprises an air compression device, an underwater air nozzle device, a wind power storage device, an inclination angle sensor and a controller, wherein the air compression and air storage device is arranged near a generator and a blade of the wind power generation device, the underwater air nozzle device is embedded into the bottom of a ballast tank of the wind power generation device, and the inclination angle sensor and the controller are positioned in the cabin of the wind power generation device.
Preferably, when the wind power generation equipment normally works, the wind energy power storage device and the compressed air storage device are used for air compression and air storage, the air storage device has multiple modes, and specific two modes are given in the text: the first one is that a rotating crank is driven by a rotating shaft of a gear box, and a cylinder piston is pushed by the rotating crank to compress air; the second is to use electrical energy to drive the air compressor while releasing excess electrical energy.
As shown in fig. 2, at least four underwater air nozzle devices are provided, the height of each underwater air nozzle device is lower than the floating center of the floating body and the gravity center of the wind power generation equipment, the nozzles of the underwater air nozzle devices are parallel to the horizontal plane, and the included angle between the nozzles of two adjacent underwater air nozzle devices is 90 degrees.
Preferably, the nozzle is provided with an electromagnetic valve, and the inclination angle sensor, the electromagnetic valve and the power storage module of the wind power generation equipment are in electric signal connection.
Preferably, the air compression device comprises an air injection device, the air injection device comprises a first air injection equipment spray pipe, a second air injection equipment spray pipe, a third air injection equipment spray pipe and a fourth air injection equipment spray pipe, and the first air injection equipment spray pipe, the second air injection equipment spray pipe, the third air injection equipment spray pipe and the fourth air injection equipment spray pipe are respectively connected with the air storage tank through air transmission pipelines; and the first jet equipment spray pipe, the second jet equipment spray pipe, the third jet equipment spray pipe and the fourth jet equipment spray pipe are respectively provided with a first spray pipe valve, a second spray pipe valve, a third spray pipe valve and a fourth spray pipe valve.
The working states of the air injection devices are mutually independent so as to adjust the working posture of the power station, the output power of the air nozzle device is increased along with the increase of the inclination angle of the power station until the shaking amplitude of the power station is smaller than a set threshold value, and the air injection is suspended.
As shown in fig. 3, based on the above method for suppressing dynamic sloshing of an offshore floating wind turbine, the method comprises:
s1, when the sea condition is good and the wind power station normally operates, the wind energy power storage device is used for driving the air compression device to store air;
s2, measuring attitude parameters of the generator by using the tilt angle sensor;
preferably, the sensor may acquire an attitude parameter of the wind tower equipment, and the attitude given value includes a roll given value and a pitch given value.
Preferably, the attitude given value may be preset according to an empirical value or a theory. Preferably, the controller determines the attitude set point during the test phase.
According to the comparison of the attitude parameters and the attitude given values, buoyancy is used as a supporting point, the output thrust of each air injection device is calculated through a lever principle and a proportional-integral-derivative algorithm, and the air injection quantity of each air injection device is determined according to the output thrust; in the working stage of the jet equipment, the jet quantity of each nozzle is adjusted at any time through a proportional integral derivative algorithm until the power generation equipment is balanced;
the attitude parameters include: heading parameter
Figure BDA0003008382620000113
Roll parameter eta 1 And pitch parameter η 2 (ii) a The yaw parameter represents the angle of the current yaw drive, the roll parameter eta 1 Representing the current angle of the wind power plant swinging on the x-axis, a pitching parameter eta 2 Representing the angle at which the wind power plant is currently swinging on the y-axis;
therefore, the sensor can output the current inclination angle theta of the wind power generation equipment as follows:
Figure BDA0003008382620000111
s3, the controller determines the attitude given value in advance, acquires attitude parameters from the sensor, determines thrust required in each direction according to the attitude parameters and the attitude given value, and determines the outlet area S of each air nozzle device according to the required thrust, wherein the outlet area S is the outlet area of the first air nozzle device, the outlet area of the second air nozzle device, the outlet area of the third air nozzle device and the outlet area of the fourth air nozzle device;
preferably, the calculation formula of the outlet area S of the air nozzle device is:
Figure BDA0003008382620000112
wherein S is the exit area;
F SP the air injection equipment provides thrust;
and delta P is the pressure difference between the internal pressure of the gas storage device and the underwater pressure of the nozzle.
Preferably, the controller simulates the influence of sea waves on the wind power equipment through a linear wave theory, a three-dimensional Green's function method and a floating foundation motion equation, and counteracts the influence of the sea waves when calculating the wind load; calculating wind load of the wind power equipment during normal power generation and power generation stopping according to ABS specifications and 'design requirements of wind generating sets' (JB/T10300-2001) in China; and (4) taking the buoyancy as a supporting point, calculating the output thrust of each air injection device through moment balance analysis, and sending an instruction.
The outlet area of the underwater air nozzle device ensures the thrust output in the direction by adjusting the output power of the nozzle.
S4, combining an underwater air nozzle device, establishing a jet reaction torque control model by using a torque balance principle to obtain a tilting torque M generated by the environment (sea waves, sea wind and the like) I And water line area moment of inertia M WP Righting moment M IS Moment M of anchoring system MLA Output torque M of balance system of offshore wind power generation equipment MLA The balance relation of the sum of the four;
as shown in fig. 4, the offshore wind power plant of the present invention receives the following forces and moments, defines an orthogonal axis system, x is consistent with the wind direction, z is perpendicular to x and upward, and the origin coincides with the floating center (F), and specifically, the calculation process is as follows:
the buoyancy center (B) is the center of mass of the underwater volume of the object, and the total buoyancy of the buoyancy equivalent to the underwater volume of the object is assumed to act through the buoyancy center; the waterline is a cross line between the free waterline and the surface of the floating body, and the area of the waterline is the area surrounded by the waterline; assuming that all the weights making up the system act through the centre of gravity (G); mooring systemSystem (MLA) centers are defined as reference points for mooring line action; the environmental strength acting on the floating offshore wind power equipment is as follows: aerodynamic, hydrodynamic and water flow forces, center of pressure CP env Is defined as environmental force F env The point of application of the action.
According to the literature (Van Hees, m., et al.,2002.Study of maritime activity of and Boundary Conditions for a Floating Off-shore Wind Turbines), the maximum inclination angle of the offshore Wind power plant should be lower than 10 ° and the inclination speed and acceleration of the Wind power plant are almost zero, i.e. the rotational inertia of the Wind power plant itself is not considered. Therefore, during design, seawater is considered as an ideal fluid, and the fluid is non-rotating and incompressible.
Moment of tilt M I Horizontal component F of the sum of the ambient moments env Generating a tilting moment M I The calculation formula of (2) is as follows:
Figure BDA0003008382620000131
wherein, F env Is the sum of environmental forces;
Figure BDA0003008382620000132
is the sum of environmental forces F env Distance from the point of action to the floating center;
θ 3 the inclination angle of the wind power generation equipment to the vertical direction is shown;
output torque M of offshore wind power generation equipment balance system SP The calculation formula of (A) is as follows:
M SP ＝F SP z SP θ 3 ；
wherein, F SP The thrust is provided for the air injection equipment;
z SP is the jet plant depth;
θ 3 the inclination angle of the wind power generation equipment to the vertical direction is shown;
when the floating body rotates, the platform is subjected to vertical disturbing force (wave excitation) when moving in waves, and the variable buoyancy generated by the heave motion of the platform is required to resistInstead, the variable buoyancy arises from the volume of the platform that is displaced or submerged in the sea as it is heave. For the wind power equipment within a small inclination angle approximate value, the area of a waterline is approximate to a constant; when the wind power generation equipment is in a small inclination angle approximate value, the area inertia moment M of a waterline WP The calculation formula of (c) is:
M WP ＝ρgA w θ 0 ；
wherein A is w Is the area of the water plane;
θ 0 is the yaw tilt angle;
ρ is the seawater density;
g is the acceleration of gravity;
when the floating body is transversely inclined at a certain angle, the floating body can be transversely and repeatedly rolled, but can still return to the original balanced position finally, because the directions of the gravity center and the floating center are changed and are not on the same vertical line when the ship is transversely rolled, a moment for returning the ship to the balanced point can be just formed, and the moment is called a righting moment;
when the wind power generation equipment is inclined to the vertical direction by the angle theta 3 Within 10-15 degrees, applying an initial stability formula to correct the moment M IS The calculation formula is as follows:
M IS ＝-Dhθ 3 ；
wherein D is the displacement;
θ 3 the inclination angle of the wind power generation equipment to the vertical direction is shown;
h is the transverse metacentric height (i.e., the metacentric height);
the negative sign indicates the direction of the righting moment opposite to the tilt angle;
as shown in FIG. 5, assuming the mooring line is a normal catenary, using the catenary equation, T 1 The acting force of the ground on the catenary is consistent with the tangential direction of the catenary on the acting point, and the included angle theta between the bottom tangent of the catenary of the anchoring system and the horizontal plane 1 ；T 2 In the same way, the acting direction of the acting force of the wind power equipment on the catenary is consistent with the direction of the tangent line at the top of the catenary, and the included angle theta between the tangent line at the top of the catenary of the anchoring system and the horizontal plane 2 (ii) a X is the horizontal distance between action points at two ends of the catenaryZ is the vertical distance between the points of action and s is the catenary length.
The stress condition of any one anchoring line in the anchoring system can be simulated through the stress analysis chart to calculate and obtain the moment M of the anchoring system MLA Comprises the following steps:
Figure BDA0003008382620000151
wherein s is the catenary length;
w is buoyancy;
z MLA is the depth of the anchor system action point;
output torque M of offshore wind power generation equipment balance system SP The calculation formula is as follows:
M SP ＝F SP z SP θ 3 ；
wherein, F SP The thrust is provided for the air injection equipment;
z SP is the jet plant depth;
θ 3 the inclination angle of the wind power generation equipment to the vertical direction is shown;
under the basis of the rolling stress analysis of the floating body, when the wind power generation equipment is in a yaw inclination angle theta 0 Within 8 degrees, the balance relation of the offshore wind power generation equipment obtained by the moment balance principle is as follows:
M I ＝M WP +M IS +M MLA +M SP ；
namely, it is
Figure BDA0003008382620000152
Figure BDA0003008382620000153
Further, the output power of the jet equipment is linearly increased between the initial damage angle and the severe damage angle of the wind power generation equipment, and the jet equipment provides thrust F SP The calculation formula of (A) is as follows:
Figure BDA0003008382620000154
wherein θ is the current inclination angle of the wind power generation equipment;
ω 1 is the angle at which the wind power generation equipment begins to be damaged;
ω 2 is a severe damage angle of the wind power generation equipment;
F SPmax the maximum output force of underwater jet equipment is designed.
S5, when the inclination angle of the wind power station exceeds a set threshold value due to overlarge wind power level or severe sea conditions, the stored air is sprayed out through the underwater air nozzle device, and the output torque M of the balance system of the offshore wind power generation equipment is output SP ；
The set threshold comprises a Cartesian coordinate system and an attitude given value; the Cartesian coordinate system is an absolute coordinate system, the vertical direction is taken as a z axis, and the positive direction of the wind wheel is taken as a y axis when the wind wheel is static; the attitude given value comprises the initial damage angle omega of the wind power generation equipment 1 Acute damage angle omega of wind power generation equipment 2 。
The specific embodiment is as follows:
according to a 5MW horizontal axis wind turbine developed by the American renewable energy laboratory for offshore wind turbines, we assume that the wind power plant parameters are as shown in the following table:
parameter(s) Parameter value Parameter(s) Parameter value
Diameter/m of platform of main cylindrical column 9.4 Volume of water discharged/m 3 8029.21
Draft/m 120 Blade diameter/m 126
Anchor chain length/m in unstretched state 902.2 Distance/m between lower anchor and platform center line 853.87
Anchor depth/m 320 Depth of cable guide hole/m 70
The floating weight/kg m of the anchor chain in water -3 698.094 Height of tower/m 90
Height GM/m of fixed inclination center 100
The sea condition simulation condition is that aiming at a possible sea condition formula of a potential wind power plant sea area in south China sea, according to related research, a steady wind speed is selected to be 11.40 m.s -1 。
Considering that under severe sea conditions, the wind power plant should be in a state of stopping power generation:
when the power generation is stopped, the average pressure P acting on the solid area of the wind wheel H Is composed of
P H ＝C DD ρ a u 2 ；
Wherein, C DD Is a coefficient of resistance;
ρ a is density of air
u is the wind speed.
Horizontal wind force F acting on the top of the tower when the power generation is stopped H Comprises the following steps:
F H ＝P H S 2 ；
wherein S is 2 The total of the solid area of the wind wheel, namely the projection area of all the blades on the rotating plane, is generally 5% -10% of the swept area of the wind wheel.
F can be finally obtained SP The calculation error mainly comes from the change of the included angle between the catenary and the x axis and belongs to the normal range.
The gas storage device disclosed by the invention is referred to as a 'modular high-pressure gas storage device' (publication number: CN209569539U, publication date: 2019, 10 and 31), and the maximum withstand voltage is 45MPa; the nozzle design refers to an 'outlet area adjustable secondary air nozzle device' (publication number: CN205481098U, published: 2016, 3 and 21), and by the technology, the underwater jet equipment can provide thrust F for the jet equipment SP ＝3.1×10 5 And N, meeting the design requirement of the invention.
As shown in fig. 6, since the outlet area of the nozzle device is adjustable, if the wind direction forms an angle with the x-axis of the system, the outlet areas of two adjacent air nozzle devices can be adjusted to control the output thrust of the corresponding air injection equipment.
Assume an included angle of
Figure BDA0003008382620000171
The first jet equipment jet pipe needs to output thrust after being adjusted
Figure BDA0003008382620000172
The jet pipe of the second jet equipment needs to output thrust after being adjusted
Figure BDA0003008382620000173
Figure BDA0003008382620000174
According to the literature, the invention designs the angle of the offshore wind power equipment which is damaged at the beginning to be 8 degrees and the severe damage angle to be 12 degrees, and designs the air injection equipment which controls the nozzle with the adjustable outlet area to provide the thrust F SP Comprises the following steps:
Figure BDA0003008382620000181
wherein, F SPmax The maximum output force is designed for the underwater jet equipment, namely the underwater jet equipment starts to work when the inclination angle is 8 degrees;
in a linear working range of 8-12 degrees, the output force is increased along with the increase of the inclination angle; when the inclination angle of the wind power equipment is larger than 12 degrees, the working power of the underwater jet equipment is always kept in the maximum state.
While the preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all alterations and modifications as fall within the scope of the application.

Claims (9)

1. A dynamic shaking restraining method for a floating type offshore wind power generation device is characterized by comprising the following steps:
(1) When the sea condition is good and the wind power station normally operates, the wind energy storage device is used for driving the air compression device to store air;
(2) The inclination angle sensor measures attitude parameters of the generator;
(3) The controller determines given attitude values in advance, acquires attitude parameters from the tilt angle sensor, determines thrust required in each direction according to the attitude parameters and the given attitude values, and determines the outlet area S of each air nozzle device according to the required thrust;
(4) Combining an underwater air nozzle device, and establishing an air injection reaction moment control model by a moment balance principle to obtain the tilting moment M generated by the environment I And water line area moment of inertia M WP Righting moment M IS Anchoring system moment M MLA Output torque M of balance system of offshore wind power generation equipment SP A moment balance formula of the sum of the four;
(5) When the wind power level is too high or the wind power station has severe sea conditions to cause the inclination angle of the wind power station to exceed a set threshold value, the stored air is sprayed out through the underwater air nozzle device, and the output torque M of the balance system of the offshore wind power generation equipment is output SP ；
The method is applied to a restraining device which comprises an air compression device, an underwater air nozzle device, a wind energy power storage device, an inclination angle sensor and a controller, wherein the air compression and air storage device is arranged near a generator and a blade of the wind power generation equipment, the underwater air nozzle device is embedded into the bottom of a ballast tank of the wind power generation equipment, and the inclination angle sensor and the controller are positioned in a cabin of the wind power generation equipment.
2. The method for suppressing the dynamic sloshing of the offshore floating wind turbine as claimed in claim 1, wherein in step (2), the attitude parameters comprise: parameter of bow
Figure FDA0003749872070000021
Roll parameter eta 1 And a pitch parameter η 2 ；
Therefore, the sensor can output the current inclination angle theta of the wind power generation equipment as follows:
Figure FDA0003749872070000022
3. the method for suppressing the dynamic sloshing of the offshore floating wind turbine as claimed in claim 1, wherein in the step (3), the outlet area of the underwater air nozzle device is adjusted by adjusting the output power of the nozzle.
4. The method for suppressing the dynamic sloshing of the offshore floating wind power plant of claim 1, wherein in the step (4),
moment of tilt M I Horizontal component F of the sum of the ambient moments env Generating a tilting moment M I The calculation formula of (2) is as follows:
Figure FDA0003749872070000023
wherein, F env Is the sum of environmental forces;
z CPenv is the sum of environmental forces F env The distance from the action point to the floating center;
θ 3 the inclination angle of the wind power generation equipment to the vertical direction is shown;
output torque M of offshore wind power generation equipment balance system SP The calculation formula of (c) is:
M SP ＝F SP z SP θ 3 ；
wherein, F SP The thrust is provided for the air injection equipment;
z SP is the jet plant depth;
θ 3 the inclination angle of the wind power generation equipment to the vertical direction is shown;
when the wind power generation equipment is in a small inclination angle approximate value, the area moment of inertia M of a waterline WP The calculation formula of (A) is as follows:
M WP ＝ρgA w θ 0 ；
wherein A is w Is the area of the water plane;
θ 0 is the yaw tilt angle;
ρ is the seawater density;
g is the acceleration of gravity;
when the wind power generation equipment is inclined to the vertical direction by the angle theta 3 Within 10-15 degrees, applying an initial stability formula to correct the moment M IS The calculation formula is:
M IS ＝-Dhθ 3 ；
wherein D is the displacement;
θ 3 the inclination angle of the wind power generation equipment to the vertical direction is shown;
h is transverse and stable heart height;
the negative sign indicates the direction of the righting moment opposite to the tilt angle;
assuming that the mooring line is a common catenary, calculating to obtain the moment M of the mooring system by using a catenary formula MLA Comprises the following steps:
Figure FDA0003749872070000031
wherein S is the catenary length;
w is the superficial gravity;
z MLA is the depth of the anchor system action point;
θ 1 is the included angle between the tangent line at the bottom of the catenary of the anchoring system and the horizontal plane;
θ 2 is the included angle between the tangent line at the top of the catenary of the anchoring system and the horizontal plane;
output torque M of offshore wind power generation equipment balance system SP The calculation formula is as follows:
M SP ＝F SP z SP θ 3 ；
wherein, F SP The air injection equipment provides thrust;
z SP is the jet plant depth;
θ 3 the inclination angle of the wind power generation equipment to the vertical direction is shown;
under the basis of the rolling stress analysis of the floating body, the yaw inclination angle theta of the wind power generation equipment is measured 0 Within 8 degrees, the torque balance formula of the offshore wind power generation equipment obtained by the torque balance principle is as follows:
M I ＝M WP +M IS +M MLA +M SP ；
namely that
Figure FDA0003749872070000041
Figure FDA0003749872070000042
5. The method for suppressing the dynamic sloshing of the floating offshore wind turbine as claimed in claim 4, wherein the jet device provides the thrust F as the output power of the jet device increases linearly from the initial damage angle to the severe damage angle of the wind turbine SP The calculation formula of (A) is as follows:
Figure FDA0003749872070000043
wherein θ is the current tilt angle of the wind power plant;
ω 1 is the angle at which the wind power generation equipment begins to be damaged;
ω 2 is the acute damage angle of the wind power generation equipment;
F SPmax the maximum output force of underwater jet equipment is designed.
6. The method for suppressing the dynamic shaking of the offshore floating wind turbine unit as claimed in claim 1, wherein in the step (5), the set threshold comprises a cartesian coordinate system and an attitude set value; the Cartesian coordinate system is an absolute coordinate system, the vertical direction is taken as a z axis, and the positive direction of the wind wheel is taken as a y axis when the wind wheel is static; the attitude given value comprises the initial damage angle omega of the wind power generation equipment 1 Acute damage angle omega of wind power generation equipment 2 。
7. The method for suppressing the dynamic vibration of the offshore floating wind turbine according to claim 1, wherein the number of the underwater air nozzle devices is at least four, the height of the underwater air nozzle device is lower than the floating body center of buoyancy and the center of gravity of the wind turbine, the nozzles of the underwater air nozzle devices are parallel to the horizontal plane, and the included angle between the nozzles of two adjacent underwater air nozzle devices is 90 degrees.
8. The method for suppressing the dynamic sloshing of the offshore floating wind turbine as claimed in claim 1, wherein the nozzle is provided with an electromagnetic valve, and the tilt sensor, the electromagnetic valve and the wind energy storage device are electrically connected.
9. The method for suppressing the dynamic shaking of the offshore floating wind turbine according to claim 1, wherein the air compression device comprises an air injection device, the air injection device comprises a first air injection equipment nozzle, a second air injection equipment nozzle, a third air injection equipment nozzle and a fourth air injection equipment nozzle, and the first air injection equipment nozzle, the second air injection equipment nozzle, the third air injection equipment nozzle and the fourth air injection equipment nozzle are respectively connected with the air storage tank through air pipelines; and the first jet equipment spray pipe, the second jet equipment spray pipe, the third jet equipment spray pipe and the fourth jet equipment spray pipe are respectively provided with a first spray pipe valve, a second spray pipe valve, a third spray pipe valve and a fourth spray pipe valve.
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