CN116001998A - Floating wind turbine with oscillating hydrofoil device and control method thereof - Google Patents

Abstract

The invention provides a floating wind turbine with an oscillating hydrofoil device and a control method thereof, wherein the floating wind turbine comprises an execution system, and the execution system is provided with: a ship-type floating platform which floats on the water surface; the wind generating set is arranged on the ship-type floating platform; the single-point mooring device limits the freedom degree of the ship-type floating platform in the horizontal direction; an oscillating hydrofoil apparatus comprising a plurality of oscillating hydrofoil modules configured with hydrofoils; the hydraulic control device is arranged on the oscillating hydrofoil module and comprises a plurality of hydraulic control modules, and the hydrofoil can rotate around a shaft under the combined action of wind and wave currents so as to drive the oscillating hydrofoil module to generate electricity; the hydraulic control module can adjust the rotation damping and the working angle of the hydrofoil. The invention solves the problems of poor motion performance and single power generation mode of the traditional ship-type floating wind turbine, ensures the stability of the platform and improves the power generation efficiency of the oscillating hydrofoil.

Description

Floating wind turbine with oscillating hydrofoil device and control method thereof

Technical Field

The invention relates to the technical field of ocean energy, in particular to a floating wind turbine with an oscillating hydrofoil device and a control method thereof.

Background

Ocean wind energy is a renewable energy source with a large-scale development and utilization prospect, and is an important component in the energy strategy of China in the future. The ship-type floating wind turbine is important equipment for developing open sea wind energy in the next generation, has the advantages of shallow draft, simple structure, convenience for integral installation and towing of a wharf, wide water depth range, relatively low cost and the like. The ship-type floating wind turbine can be matched with the single-point mooring device to achieve the effects of autonomously facing wind and reducing transverse wave load. However, the ship-shaped platform has larger water plane and large stress area, and the inherent cycle and wave cycle of motions such as pitching, rolling, heaving and the like are close, so that the ship-shaped platform has the characteristics of strong randomness, nonlinearity and the like under the combined action of environmental load and working load, and a damping device is required to be added to reduce motion response and load. The wave energy is another important renewable clean energy source at sea, has the characteristics of high energy density and wide distribution range, and the traditional ship-type floating wind turbine only uses wind energy to generate electricity, and lacks a device for efficiently converting and utilizing the wave energy.

In order to solve the above-mentioned problems, there are various designs in the prior art, and patent document CN104875862a has a pair of tanks in the ship width direction and flow paths communicating with each other in the lower portion thereof, and the anti-rolling effect is achieved by damping the flow of the liquid, but such tank arrangement has high requirements on geometric dimensions, and is not suitable for installation of a ship-type floating wind turbine. Patent document CN106382182a proposes a passive wave-absorbing anti-rolling power generation device of a floating wind turbine platform, which adopts a float installed at the bottom of the platform to absorb wave energy, so as to achieve the effect of reducing the response of the platform, and the absorbed energy can be used for power generation, but the design of the float has a larger influence on the gravity center of the wind turbine platform, and is only suitable for semi-submersible floating wind turbines. Patent document CN215884008U sets up the buoyancy tank in the bottom of the showy wind turbine to set up the net that permeates water and be used for increasing the net damping piece with sea water area of contact in the buoyancy tank, reach the stabilizer effect, but it can only dissipate the energy of absorption with the mode of heat, can't absorb the utilization. Patent document CN102720209a proposes a foundation for a marine floating wind turbine comprising a retractable damping device, where the retractable damping device comprises a damping disc and retractable main beams connected to the damping disc, and the damping disc is provided with stabilizer fins and turbulence holes, so that the motion amplitude of the floating wind turbine can be reduced, but the requirement on the water depth is high, and a complex control center is required to control the state of each retractable main beam.

In view of the above, there is a need in engineering for a ship-type floating wind turbine with easy installation, simple structure, good controllability and high stability, and the roll reduction device can reduce the motion amplitude of the platform, reduce the load and convert the absorbed energy into electric energy.

Disclosure of Invention

In view of the drawbacks of the prior art, an object of the present invention is to provide a floating wind turbine with oscillating hydrofoil means and a method for controlling the same.

According to the present invention there is provided a floating wind turbine with oscillating hydrofoil apparatus, comprising an execution system configured with:

a ship-type floating platform which floats on the water surface;

the wind generating set is arranged on the ship-type floating platform and is used for wind power generation;

the single-point mooring device limits the freedom degree of the ship-type floating platform in the horizontal direction and the ship-type floating platform can rotate around the single-point mooring device under the combined action of wind and wave currents;

an oscillating hydrofoil device arranged below the ship-type floating platform and comprising a plurality of oscillating hydrofoil modules provided with hydrofoils;

the hydraulic control device is arranged on the oscillating hydrofoil module and comprises a plurality of hydraulic control modules matched with the oscillating hydrofoil module, and the hydrofoil can rotate around a shaft under the action of wave energy so as to drive the oscillating hydrofoil module to generate power; simultaneously, the hydraulic control module can adjust the rotation damping and the working angle of the hydrofoil so that the oscillating hydrofoil module obtains the required power generation efficiency.

Preferably, the oscillating hydrofoil module is provided with a hydraulic oil cylinder, and the rotation of the hydrofoil around the shaft can drive the hydraulic oil cylinder to stretch out and draw back so as to enable the oscillating hydrofoil module to generate electricity.

Preferably, the oscillating hydrofoil module further comprises a frame and a limiting device, one side of the hydrofoil is in running fit with the bottom of the frame, and the middle part of the hydrofoil is in movable fit with the top of the frame through a hydraulic cylinder;

the limiting device is used for limiting the maximum rotation angle of the hydrofoil.

Preferably, each hydraulic control module correspondingly controls one oscillating hydrofoil module, and the hydraulic control module comprises an electric control device, a hydraulic pump, a multi-way valve, a hydraulic power converter and hydraulic auxiliaries;

the electric control equipment is respectively in control connection with the hydraulic pump and the multi-way valve so as to control the flow direction of hydraulic oil in the hydraulic control module, the hydraulic power converter is connected with the hydraulic auxiliary through the multi-way valve, and the hydraulic auxiliary is connected with the hydraulic oil cylinder.

Preferably, the single point mooring is connected to the boat floating platform by a plurality of mooring connectors;

the single point mooring device limits the freedom of the ship-type floating platform in the horizontal direction through a plurality of anchor chains.

Preferably, the system also comprises an acquisition system and a control center, wherein the acquisition system is used for acquiring real-time operation data and operation sea state data on an execution system and providing the real-time operation data and the operation sea state data for the control center to perform data processing and instruction decision;

the control center can process and analyze the real-time operation data and the operation sea state data collected by the collection system and send the autonomous operation and operation instructions to the execution system for execution.

Preferably, the acquisition system comprises at least one of an accelerometer, a gyroscope, a wind speed and direction sensor, a wave height and wave direction sensor, a water pressure and flow rate sensor, a hydrofoil posture sensor, an oil cylinder hydraulic sensor and various power generation module sensors;

the control center comprises a data processing module, an operation monitoring module, an operation control module and an emergency standby module, wherein the data processing module can perform primary filtering impurity removal and conversion treatment on data collected by the acquisition system, obtain various measured physical quantities and submit the various measured physical quantities to other three modules, the operation monitoring module converts the data into a chart and presents the chart to staff for remote real-time monitoring through a visual interface, the operation control module outputs operation instructions to the execution system, and the operation instructions comprise hydrofoil posture adjustment instructions, oil cylinder hydraulic adjustment instructions, wind turbine generator system power generation instructions and hydraulic power generation system power generation instructions; the emergency standby module can be used for emergently taking over control under the extreme condition that the operation control module fails, the emergency standby module provides a manual control channel of the execution system, and after the emergency standby module is switched to the emergency standby module under an emergency condition, the manual control of each part can be realized so as to ensure that the execution system gets rid of the trouble and avoids danger under the emergency condition.

According to the control method of the floating wind turbine with the oscillating hydrofoil device, provided by the invention, the specific operation steps are as follows:

step 1: carrying a proper number of oscillating hydrofoil modules and anchor chains on a ship type floating platform according to the sea condition and the working period of the working area, determining working parameters, inputting the working parameters into a control center, and starting and calibrating an acquisition system;

step 2: after the deployment of the execution system is completed, each power generation module is adjusted to a power generation state through a control center, a power generation instruction of a wind generating set is automatically issued by a working control module according to the wind speed and the wind direction obtained by an acquisition system, the wind generating set starts to work, the optimal working angle and optimal motion damping of the hydrofoil are calculated by a data processing module according to the motion speed, the acceleration, the pitching motion speed of the hydrofoil, the water pressure and the flow speed of the hydrofoil, which are obtained by the acquisition system, and the hydraulic control module starts to control the flow speed of hydraulic oil so as to change the motion damping of the hydrofoil;

Step 3: the hydrofoil moves along with the movement of the ship-shaped floating platform, the hydrofoil moves in a pitching mode around the rotating shaft under the damping action of the water pressure and the hydraulic oil cylinder, when the ship-shaped floating platform moves in a pitching mode, the hydrofoil at the bow and the stern is driven to do opposite-direction heave movement, when the ship-shaped floating platform moves in a heave mode, the hydrofoil at the bow and the stern is driven to do same-direction heave movement, when the hydrofoil rotates around the shaft in a first direction, the hydraulic oil cylinder passively stretches and the internal hydraulic pressure is reduced, hydraulic oil in the oil storage tank flows into the hydraulic oil cylinder through the hydraulic power converter, and the system generates electricity; when the hydrofoil rotates around the shaft along the second direction, the hydraulic oil cylinder is shortened, the internal hydraulic pressure is increased, hydraulic oil flows into an oil storage tank from the hydraulic oil cylinder through a hydraulic power converter, and the system generates electricity; and a movement period of the hydrofoil corresponds to two power generation processes of the hydraulic power converter, wherein the first direction is opposite to the second direction.

Step 4: the execution system keeps a normal operation state to continuously generate power, and if the difference between the optimal working angle or the optimal motion damping of the hydrofoil calculated by the data processing module and the current parameter exceeds a preset value, a corresponding adjustment instruction is automatically issued to the operation execution module to improve the overall power generation efficiency of the execution system;

Preferably, when extreme conditions are encountered, the control hub will issue an alarm to alert the staff; meanwhile, the priority of reducing the load of the anchor chain is improved in the control center decision method, namely, between the optimal power generation efficiency and the optimal survival condition, the latter is decided and selected, and the hydrofoil actively adjusts the angle to reduce the load born by the anchor chain to the greatest extent; and (4) repeating the steps 1-4 after the extreme working condition is finished, and performing the system to perform normal operation again to generate power.

Preferably, the working parameters comprise at least one of working water depth, anchor chain pretension, statistical wind speed in the sea area, statistical wave height in the sea area, wave period, initial hydrofoil posture, initial hydraulic cylinder length and limit hydraulic cylinder travel;

the optimal working angle refers to an angle when the hydrofoil reaches maximum energy conversion efficiency under the determined incoming flow speed, self-ascending and descending movement speed and pitch angle speed, and the movement damping of the hydrofoil at the moment is defined as optimal movement damping, wherein the optimal working angle can be realized by adjusting the stroke of the hydraulic oil cylinder, and the optimal movement damping can be realized by adjusting the flow rate of hydraulic oil in the hydraulic oil cylinder.

Compared with the prior art, the invention has the following beneficial effects:

1. according to the invention, the oscillating hydrofoil device is arranged at the head and tail of the single-point moored ship-type floating wind turbine and is matched with the hydraulic power generation device, so that the hydrofoil absorbs wave energy to generate horizontal thrust, the anchor chain load is reduced, the motion response of the platform is reduced, and the absorbed energy is utilized to generate power, so that the problems of poor motion performance and single power generation mode of the traditional ship-type floating wind turbine are solved, meanwhile, the oil pressure and the telescopic state of an oil cylinder are controlled by monitoring the postures of the platform and the hydrofoil, the stability of the platform is ensured, the power generation efficiency of the oscillating hydrofoil is improved, and the oscillating hydrofoil device is easy to install, has a simple structure, good controllability and high stability, can reduce the motion amplitude of the platform, reduce the load and convert the absorbed energy into electric energy.

2. The invention adopts the oscillating hydrofoil device composed of a plurality of groups of hydrofoils and hydraulic cylinders, and the thrust generated by the hydrofoils is counteracted with the wind wave load, so that the problems of poor motion performance and large anchor chain load of the single-point mooring ship type floating wind turbine platform are effectively solved; the oscillating hydrofoil device is combined with a hydraulic system formed by the multi-way valve and the hydraulic power converter, so that various functions such as energy absorption, power generation and the like can be realized, efficient operation of the hydrofoil under working sea conditions can be realized, and safety of the device is ensured under high sea conditions.

3. According to the invention, the oscillating hydrofoil devices are arranged at the head and tail ends of the single-point moored ship type floating wind turbine platform, and the hydraulic system is matched to control the damping of the hydrofoil movement, so that the energy of the platform movement can be fully absorbed, the damping of the platform is improved, the energy absorption and stabilization are realized, meanwhile, forward thrust can be generated in the working process of the oscillating hydrofoil, the longitudinal wave load and the wind load are resisted, and the problems of high anchor chain load and poor movement performance of the traditional ship type single-point moored floating wind turbine platform are solved.

4. According to the hydraulic system formed by the hydraulic power converter, the hydraulic pump, the multi-directional valve and the hydraulic auxiliary, the hydraulic oil cylinder is controlled to stretch and retract and the flow rate of hydraulic oil, so that the angle and the motion damping of the hydrofoil are adjusted, the angle and the stress monitoring device of the hydrofoil are combined to adapt to different platform motion amplitudes under various working conditions, the energy of the platform motion is converted into electric energy, and the problems of single working condition and low power generation efficiency of the traditional passive oscillating hydrofoil are solved.

5. The invention can realize the accurate control of the hydrofoil angle, ensure that the oscillating hydrofoil device always works near the optimal angle, keep the optimal power generation efficiency, simultaneously reduce the load under the living working condition and solve the control problem of the hydrofoil gesture under different working conditions.

Drawings

Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:

FIG. 1 is a schematic perspective view of the present invention;

FIG. 2 is a schematic diagram of the front structure of the present invention;

FIG. 3 is a schematic side view of the present invention;

FIG. 4 is a schematic top view of the structure of the present invention;

FIG. 5 is a schematic diagram of an oscillating hydrofoil apparatus;

FIG. 6 is a schematic diagram of a hydraulic control module;

FIG. 7 is a schematic diagram of the structure and operation of an oscillating hydrofoil device;

FIG. 8 is a schematic view of the operation of the oscillating hydrofoil during pitching movement of the hull;

FIG. 9 is a schematic diagram of the operation of the oscillating hydrofoil during heave motion of the hull;

FIG. 10 is a schematic flow of hydraulic oil rotated in a first direction by a hydrofoil;

FIG. 11 is a schematic diagram of hydraulic oil flow for a second direction rotation of the hydrofoils;

FIG. 12 is a schematic illustration of hydrofoil thrust generation;

FIG. 13 is a schematic block diagram of the present invention;

FIG. 14 is a flow chart of a control method according to the present invention.

The figure shows:

100-hull

101-Deck

102-single point mooring

103-anchor chain

104-connecting beam

105-diagonal brace

106-mooring device connection frame

200-wind generating set

300-oscillating hydrofoil module

301-hydrofoil

302-spindle

303-hydraulic cylinder

304-frame

305-stop device

400-Hydraulic control Module

401-electric control device

402-hydraulic pump

403-multiway valve

404-hydraulic power converter

405-Hydraulic auxiliaries

Detailed Description

The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present invention.

Example 1:

the invention provides a floating wind turbine with an oscillating hydrofoil device, which comprises an execution system, a collection system and a control center, wherein the execution system comprises a ship-type floating platform, a wind generating set 200, a single-point mooring device 102, the oscillating hydrofoil device and a hydraulic control device, and the ship-type floating platform floats on the water surface; the wind generating set 200 is installed on a ship-type floating platform and is used for wind power generation; the single-point mooring device 102 is used for limiting the freedom degree of the ship-type floating platform in the horizontal direction, the ship-type floating platform can rotate around the single-point mooring device 102 under the combined action of wind and wave currents, and the single-point mooring device 102 is preferably connected with the ship-type floating platform through a mooring device connecting frame 106; the oscillating hydrofoil apparatus is arranged below the ship-type floating platform and comprises a plurality of oscillating hydrofoil modules 300 provided with hydrofoils 301; the hydraulic control device is arranged on the oscillating hydrofoil module 300 and comprises a plurality of hydraulic control modules 400 matched with the oscillating hydrofoil module 300, and the hydrofoil 301 can rotate around a shaft under the action of wave energy so as to drive the oscillating hydrofoil module 300 to generate electricity; at the same time, the hydraulic control module 400 is able to adjust the rotational damping and operating angle of the hydrofoil 301 such that the oscillating hydrofoil module 300 achieves better power generation efficiency.

Specifically, the oscillating hydrofoil module 300 is provided with a hydraulic oil cylinder 303, a frame 304 and a limiting device 305, one side of the hydrofoil 301 is in running fit with the bottom of the frame 304, the middle part of the hydrofoil 301 is in running fit with the top of the frame 304 through the hydraulic oil cylinder 303, the hydrofoil 301 rotates around a shaft to drive the hydraulic oil cylinder 303 to stretch out and draw back so as to enable the oscillating hydrofoil module 300 to generate electricity, the limiting device 305 is used for limiting the maximum rotation angle of the hydrofoil 301, and the single-point mooring device 102 is used for limiting the freedom degree of the ship-shaped floating platform in the horizontal direction through a plurality of anchor chains 103.

In practical application, each hydraulic control module 400 correspondingly controls one oscillating hydrofoil module 300, the hydraulic control module 400 comprises an electric control device 401, a hydraulic pump 402, a multi-way valve 403, a hydraulic power converter 404 and a hydraulic auxiliary 405, the electric control device 401 is respectively in control connection with the hydraulic pump 402 and the multi-way valve 403 so as to control the flow direction of hydraulic oil in the hydraulic control module 400, the hydraulic power converter 404 is connected with the hydraulic auxiliary 405 through the multi-way valve 403, and the hydraulic auxiliary 405 is connected with the hydraulic oil cylinder 303.

The acquisition system is used for acquiring real-time operation data and operation sea state data on the execution system and providing the real-time operation data and the operation sea state data for the control center to perform data processing and instruction decision; the control center can process and analyze the real-time operation data and the operation sea state data collected by the collection system and send the autonomous running and operation instructions to the execution system for execution. The system comprises an acquisition system, a control center and a hydraulic control system, wherein the acquisition system comprises an accelerometer, a gyroscope, a wind speed and direction sensor, a wave-height wave-direction sensor, a water pressure and flow rate sensor, a hydrofoil attitude sensor, an oil cylinder hydraulic sensor, various power generation module sensors and the like, the control center comprises a data processing module, an operation monitoring module, an operation control module and an emergency standby module, the data processing module can conduct primary filtering impurity removal and conversion processing on data collected by the acquisition system to obtain various measured physical quantities and submit the various measured physical quantities to other three modules, the operation monitoring module converts the data into a chart and presents the chart to a worker through a visual interface for remote real-time monitoring, the operation control module outputs operation instructions to an execution system, and the operation instructions comprise a hydrofoil attitude adjustment instruction, an oil cylinder hydraulic adjustment instruction, a wind turbine generator set power generation instruction and a hydraulic power generation system power generation instruction; the emergency standby module can be used for emergency takeover control under the extreme condition that the operation control module fails, the emergency standby module provides a manual control channel of the execution system, and after the emergency standby module is switched to the emergency standby module in an emergency condition, the manual control of each part can be realized so as to ensure that the execution system gets rid of the trouble and avoids danger in the emergency condition.

The invention also provides a control method of the floating wind turbine with the oscillating hydrofoil device, which comprises the following specific operation steps:

step 1: carrying a proper number of oscillating hydrofoil modules 300 and anchor chains 103 on a ship type floating platform according to the sea condition of an operation area and the operation period, determining working parameters and inputting the working parameters to a control center, and starting and calibrating an acquisition system, wherein the working parameters comprise at least one of operation water depth, anchor chain pretension, sea area statistical wind speed, sea area statistical wave height, wave period, hydrofoil initial posture, hydraulic cylinder initial length and hydraulic cylinder limit stroke;

step 2: after the deployment of the execution system is completed, each power generation module is adjusted to a power generation state through a control center, according to the wind speed and the wind direction obtained by the acquisition system, the operation control module automatically gives a power generation instruction to the wind generating set 200, the wind generating set 200 starts to work, according to the movement speed, the acceleration, the pitching movement speed of the hydrofoil, the water pressure near the hydrofoil and the flow speed of the ship type floating platform obtained by the acquisition system, the data processing module calculates an optimal working angle and optimal movement damping of the hydrofoil 301, according to the longitudinal position and the transverse position of the oscillating hydrofoil module 300, the operation control module automatically gives different hydrofoil attitude control instructions and movement damping control instructions, the hydrofoil 301 is pushed to rotate, meanwhile, the hydraulic control module 400 starts to control the flow speed of hydraulic oil so as to change the movement damping of the hydrofoil 301, wherein the optimal working angle refers to the angle when the hydrofoil 301 reaches the maximum energy conversion efficiency under the determined incoming flow speed, the self-sinking movement speed and the pitch angle, the movement damping of the corresponding hydrofoil 301 is defined as the optimal movement damping, the optimal working angle can be realized by adjusting the stroke of the hydraulic oil cylinder 303, and the optimal movement can be realized by adjusting the hydraulic oil flow speed in the hydraulic oil cylinder 303;

Step 3: the hydrofoil 301 moves along with the movement of the ship-shaped floating platform, the hydrofoil 301 moves in a pitching mode around the rotating shaft 302 under the action of water pressure and hydraulic oil cylinder damping, when the ship-shaped floating platform moves in a pitching mode, the hydrofoil 301 at the bow and the stern is driven to do opposite-direction heave movement, when the ship-shaped floating platform moves in a heave mode, the hydrofoil 301 at the bow and the stern is driven to do the same-direction heave movement, when the hydrofoil 301 rotates around the shaft along a first direction, the hydraulic oil cylinder 303 is passively stretched, the internal hydraulic pressure is reduced, hydraulic oil in an oil storage tank flows into the hydraulic oil cylinder through the hydraulic power converter 404, and the system generates electricity; when the hydrofoil 301 rotates around the shaft along the second direction, the hydraulic oil cylinder 303 is shortened, the internal hydraulic pressure is increased, hydraulic oil flows into an oil storage tank from the hydraulic oil cylinder 303 through a hydraulic power converter 404, and the system generates electricity; one movement cycle of the hydrofoil 301 corresponds to two power generation processes of the hydraulic power converter 404, wherein the first direction is opposite to the second direction, and in this embodiment, as shown in fig. 9 and 10, the first direction is clockwise rotation, and the second direction is counterclockwise rotation.

Step 4: the execution system keeps a normal operation state to continuously generate power, and if the difference between the optimal working angle or the optimal motion damping of the hydrofoil 301 calculated by the data processing module and the current parameter exceeds a preset value, a corresponding adjustment instruction is automatically issued to the operation execution module to improve the overall power generation efficiency of the execution system;

It should be noted that, when encountering extreme conditions, the control hub will issue an alarm to alert the staff; meanwhile, the priority of reducing the load of the anchor chain is improved in the control center decision method, namely, between the optimal power generation efficiency and the optimal survival condition, the latter is decided and selected, and the hydrofoil 301 actively adjusts the angle to reduce the load born by the anchor chain to the greatest extent; and (4) repeating the steps 1-4 after the extreme working condition is finished, and performing the system to perform normal operation again to generate power.

Example 2:

this example is a preferred example of example 1

The embodiment provides a floating wind turbine with an oscillating hydrofoil device, which comprises a ship-type floating platform, a wind generating set 200, a single-point mooring device 102, the oscillating hydrofoil device and a hydraulic control device.

As shown in fig. 1, 2, 3 and 4, the main structure of the ship-shaped floating platform is composed of a ship body 100, preferably a catamaran type, which can ensure the stability of the floating wind driven generator and reduce the sloshing of the platform in the operation process. The two sheet bodies are internally provided with watertight cabins which can be used for adjusting ballast water, loading working equipment and the like. The two plates are connected by a plurality of transverse connecting beams 104 which do not contact the water surface. A deck 101 is laid over the hull in the range from the centerline to the stern, and diagonal braces 105 are arranged on the deck to support the wind turbine 200.

The single point mooring device 102 is arranged on a longitudinal section in front of the hull, and is connected with the hull through a mooring device connecting frame 106, the single point mooring device 102 limits the motion freedom degree of the ship-shaped floating platform in the horizontal direction through a plurality of anchor chains 103, preferably 6 anchor chains, but the platform can rotate around the single point mooring device 102 in the horizontal plane, and the single point mooring device has the effect that when the ship-shaped floating platform is subjected to stormy waves in a certain direction, the bow of the ship automatically faces the incoming flow direction through the effect of a wind vane, so that the wind generating set 200 and the oscillating hydrofoil module 300 are in an optimal working state. The size and number of the anchor chains 103 may be adjusted according to the actual installation location and the depth of water.

The oscillating hydrofoil device is composed of a plurality of oscillating hydrofoil modules 300, and the oscillating hydrofoil modules 300 are used for converting kinetic energy of heave and pitch motions of a ship-type floating platform in waves into forward thrust of the platform, namely thrust along the bow direction, and driving a hydraulic control module 400 to generate power, wherein the oscillating hydrofoil modules 300 comprise hydrofoils 301 arranged at the bottom of the modules, rotating shafts 302, hydraulic cylinders 303 for controlling the hydrofoils to move around the rotating shafts, frames 304 and limiting devices 305, the hydrofoils 301 are symmetrical wing shapes, preferably NACA0012 wing shapes, and when the oscillating hydrofoils are arranged, the leading edges of the hydrofoils 301 face the bow and the trailing edges face the stern, the rotating shafts 302 are hinged with the frames 304, so that the hydrofoils 301 can do pitching motions around the rotating shafts 302, and the maximum rotation angle of the hydrofoils 301 is limited by the limiting devices 305, the rotation maximum angle of the hydrofoils is preferably 30 degrees, and the rotating shafts 302 are preferably arranged at the quarter chord length of the hydrofoils 301, so as to improve energy absorption efficiency. The hydraulic ram 303 is hinged at both ends to the hydrofoil 301 and the frame 304, respectively.

As shown in fig. 6, hinge supports connecting the hydrofoil 301 and the hydraulic cylinder 303 are arranged at both sides of the hydrofoil 301 in the spanwise direction, at the middle part in the chord direction slightly near the trailing edge, and hinge supports connecting the hydraulic cylinder 303 and the frame 304 are arranged at the intersection point of the hinge supports in the vertical direction and the frame 304.

As shown in fig. 6 and 7, the distance from the center of the rotation shaft of the hydrofoil 301 to the center of the hinge support at the upper end of the hydraulic cylinder 303 is L ₁ The distance from the center of the rotating shaft of the hydrofoil 301 to the center of the hinged support at the lower end of the hydraulic cylinder 303 is L ₂ The initial included angle of the two ends of the hydraulic cylinder 303 with the hydrofoil rotating shaft as the center is theta ₀ Length of cylinder L _C The geometrical relationship with the angle of attack alpha is: l (L) _C ² ＝ ₁ ² + ₂ ² -2L ₁ L ₂ cos( ₀ +)。

Specifically, the hydraulic cylinder 303 can actively adjust the hydraulic pressure in the hydraulic cylinder, so as to change the damping effect on the pitching motion of the hydrofoil 301, and the plurality of oscillating hydrofoil modules 300 are arranged along the ship width direction to form an oscillating hydrofoil group, and the transverse distribution number can be adjusted by the actual operation sea condition, and in this embodiment, five oscillating hydrofoil modules 300 form an oscillating hydrofoil group. Because the heave motion amplitude of the ship-shaped floating platform at the bow and the stern is the largest, one or more oscillation hydrofoil energy absorption groups can be respectively arranged at the bow and the stern of the ship-shaped floating platform, and in the embodiment, one oscillation hydrofoil group is respectively arranged at the bow and the stern of the ship-shaped floating platform, so that the purpose of absorbing the kinetic energy of the ship-shaped floating platform to the greatest extent is to reduce the motion response of the ship-shaped floating platform in waves.

Further, the hydrofoil 301 can generate forward thrust during operation, and the thrust resists to longitudinal wave load and wind load, as shown in fig. 7, 8 and 11, so that the stress of the single-point mooring device 102 in the horizontal direction is reduced, and the effect of reducing the load is achieved. It should be noted that the arrangement of all oscillating hydrofoil modules 300 is ensured that they do not interfere with the anchor chain 103 during operation.

The hydraulic control device is composed of a plurality of hydraulic control modules 400, and each hydraulic control module 400 controls one oscillating hydrofoil module 300. The hydraulic control module 400 comprises an electronic control device 401, a hydraulic pump 402, a multi-way valve 403, a hydraulic power converter 404 and hydraulic auxiliaries 405, wherein the electronic control device 401 is capable of controlling the operation of the hydraulic pump 402 and the multi-way valve 403, thereby controlling the flow direction of hydraulic oil within the hydraulic control module 400. The multi-way valve 403 functions to communicate, shut off, reverse and regulate the flow of hydraulic oil. The multi-way valve 403 is connected to the hydraulic power converter 404 and the hydraulic auxiliary 405, respectively, and hydraulic oil flows between the hydraulic cylinder 303 and the hydraulic power converter 404 through the hydraulic auxiliary 405 and the multi-way valve 403. When hydraulic oil flows into the hydraulic cylinder 303 under the action of the hydraulic pump 402, the electric energy is converted into mechanical energy of the hydraulic oil, so that the hydraulic cylinder 303 is pushed to control the movement of the hydrofoil 301. When the hydrofoil 301 makes a pitching motion about the rotation shaft 302 by the hydraulic pressure as the platform moves, the hydraulic cylinder 303 is pushed by the hydrofoil 301, the hydraulic oil is controlled to flow through the hydraulic power converter 404 by the multi-way valve 403, and the mechanical energy of the hydraulic oil is converted into electric energy.

As shown in fig. 12, the acquisition system mainly comprises various sensors arranged on the system, including an accelerometer and a gyroscope, a wind speed and direction sensor, a wave height and wave direction sensor, a water pressure and flow rate sensor, a hydrofoil attitude sensor, an oil cylinder hydraulic sensor, various power generation module sensors and the like, and is mainly used for acquiring real-time operation data and operation sea state data of the ship-type floating wind turbine platform and providing the real-time operation data and operation sea state data for a control center to perform data processing and instruction decision. The accelerometer and the gyroscope are used for collecting the motion acceleration and attitude information of the ship-shaped platform; the wind speed and direction sensor mainly collects wind speed and direction information when the platform works; the wave height and wave direction sensor mainly collects wave heights and wave propagation directions near the oscillating hydrofoil module; the water pressure flow rate sensor mainly collects the flow rate and water pressure near the oscillating hydrofoil module; the hydrofoil attitude sensor mainly collects the rotation angle and rotation angular velocity of the hydrofoil; the hydraulic sensor of the oil cylinder mainly collects the oil pressure and the flow rate in the hydraulic oil cylinder; the sensors of the power generation modules mainly collect the power generation power of the wind generating set and the power generation power of the hydraulic power generation system, so that the control center can adjust the working states of the power generation modules.

The control center is mainly responsible for processing and analyzing the real-time environment and mechanism operation data collected by the acquisition system, and sending autonomous operation and operation instructions to the execution system for execution. The control center comprises four parts, namely a data processing module, an operation monitoring module, an operation control module and an emergency standby module. The data processing module is mainly responsible for carrying out primary filtering impurity removal and conversion processing on the data collected by each sensor to obtain various measured physical quantities, and submitting the measured physical quantities to other modules. The operation monitoring module converts necessary data into a chart and provides the chart for ground station staff to remotely monitor in real time through a visual interface. The operation control module is mainly responsible for outputting operation running instructions to the execution system, including hydrofoil attitude adjustment instructions, hydro-cylinder hydraulic adjustment instructions, wind turbine generator system power generation instructions, hydraulic power generation system power generation instructions and the like. The emergency standby module is a simplified module based on the operation control module and is mainly responsible for emergency takeover control in the extreme case of failure of the operation control module. The module provides a manual control channel of an execution system, and after the module is switched to in an emergency, manual control of each part can be realized, so that the escape and danger avoidance of the device in the emergency is ensured.

The execution system is capable of executing instructions issued by the control hub, comprising:

controlling the flow direction of hydraulic oil according to the instruction, controlling the extension or shortening of the hydraulic oil cylinder so as to adjust the angle of the hydrofoil;

and adjusting the flow rate of hydraulic oil according to the instruction, so as to adjust the damping effect of the hydraulic oil cylinder on the pitching motion of the hydrofoil.

The automatic control is adopted, and comprises the control of the power generation power of the wind driven generator, the control of the power generation power of the hydraulic system and the like.

As shown in fig. 13, the specific control principle of the present invention is as follows:

step 1, checking and carrying a proper number of oscillating hydrofoil groups according to the sea condition of a working area and the length of a working period, selecting an anchor chain 103 with a proper size, determining working parameters, manually inputting the working parameters to a control center, and then starting and calibrating various sensors on a mechanism. These operating parameters include, but are not limited to, operating water depth, anchor chain pretension, statistical wind speed in the sea area, statistical wave height and wave period in the sea area, initial hydrofoil attitude, initial hydraulic ram length, hydraulic ram limit travel, etc.

And 2, after the distribution of the execution system is finished, adjusting each power generation module to a power generation state through a control center. According to the wind speed and the wind direction obtained by the acquisition system, the operation control module automatically gives a generating instruction of the wind turbine generator set, and the wind turbine generator set starts to work. And the data processing module calculates the optimal working angle and the optimal motion damping of the hydrofoil according to the motion speed, the acceleration, the pitching motion speed of the hydrofoil, the water pressure and the flow speed near the hydrofoil of the platform obtained by the acquisition system. The optimal working angle refers to the angle of the hydrofoil 301 reaching the maximum energy conversion under the determined incoming flow speed, self-heave motion speed and pitch angle speed, and the angle motion range a of the hydrofoil is called optimal motion damping k at the moment. The optimal working angle a can be achieved by adjusting the stroke of the hydraulic cylinder 303, and the optimal motion damping k can be achieved by adjusting the flow rate of hydraulic oil in the hydraulic cylinder 303. The operational control module automatically issues different hydrofoil attitude control commands and motion damping control commands based on the longitudinal and lateral positions at which the oscillating hydrofoil module 300 is located. The hydrofoil 301 is pushed to rotate, and the hydraulic control module 400 starts the control of the hydraulic oil flow rate, so that the motion damping of the hydrofoil 301 is changed. Generally, heave motions at the head and tail of the vessel are most affected by heave and pitch of the vessel, and thus the oscillating hydrofoil 301 mounted at the head and tail position has a larger optimum working angle a and a larger optimum motion damping k. Also, oscillating foil modules 300 on both sides of the vessel are most affected by vessel roll, with foils 301 in these positions having a larger optimum operating angle a and a larger optimum motion damping k relative to foils 301 in the vessel.

Step 3, the working states of the hydrofoils 301 are approximately the same within a certain time range, so that the optimal movement angles and the optimal movement damping of the hydrofoils 301 are different but do not change suddenly, and therefore, the hydrofoils are silent within a certain time range, preferably one tenth of the current wave period, after the hydrofoils posture adjustment command is sent. The hydrofoil 301 moves along with the movement of the ship-shaped floating platform, and the hydrofoil 301 performs pitching movement around the rotating shaft 302 under the action of water pressure and damping of the hydraulic oil cylinder 303. As shown in fig. 7, when the boat-shaped floating platform makes pitching motion, the hydrofoils 301 at the bow and the stern are driven to do opposite-direction heave motion, as shown in fig. 8, when the boat-shaped floating platform makes heave motion, the hydrofoils 301 at the bow and the stern are driven to do the same-direction heave motion. When the hydrofoil 301 rotates clockwise around the shaft, the hydraulic oil cylinder 303 passively stretches, the internal hydraulic pressure is reduced, hydraulic oil in the oil storage tank flows into the hydraulic oil cylinder 303 through the hydraulic power converter 404, and the system generates electricity, as shown in fig. 9; when the hydrofoil 301 rotates counterclockwise around the shaft, the hydraulic cylinder 303 shortens, the internal hydraulic pressure rises, and hydraulic oil flows from the hydraulic cylinder 303 into the oil storage tank through the hydraulic power converter 404, and the system generates electricity as shown in fig. 10. One movement cycle of the hydrofoil 301 corresponds to two power generation processes of the hydraulic power converter 404.

And step 4, after the steps are completed, the execution system keeps a normal operation state to continuously generate power. If the data processing module calculates that the optimal working angle or the optimal motion damping of the hydrofoil 301 has larger phase difference with the current parameters, a corresponding adjusting instruction is automatically issued to the operation executing module so as to improve the overall power generation efficiency of the mechanism.

It should be noted that, when the execution system encounters an extreme working condition, the control center will send out an alarm to remind the staff to make a coping task in advance. Meanwhile, the priority of reducing the load of the anchor chain 103 is improved in the control center decision method, namely, the optimal power generation efficiency and the optimal survival condition are selected in a decision-making way. In this regard, hydrofoil 301 actively adjusts the angle to minimize the load on anchor chain 103, greatly improving the viability and service life of the platform. And (4) after the extreme working condition is finished, repeating the steps 1-4, and carrying out normal operation on the system again to generate power.

In the description of the present application, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, merely to facilitate description of the present application and simplify the description, and do not indicate or imply that the devices or elements being referred to must have a specific orientation, be configured and operated in a specific orientation, and are not to be construed as limiting the present application.

The foregoing describes specific embodiments of the present invention. It is to be understood that the invention is not limited to the particular embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without affecting the spirit of the invention. The embodiments of the present application and features in the embodiments may be combined with each other arbitrarily without conflict.

Claims (10)

1. A floating wind turbine having an oscillating hydrofoil apparatus, comprising an implement system configured with:

a ship-type floating platform which floats on the water surface;

a wind power generator set (200) mounted on the ship-type floating platform for wind power generation;

the single-point mooring device (102) limits the freedom degree of the ship-shaped floating platform in the horizontal direction and the ship-shaped floating platform can rotate around the single-point mooring device (102) under the combined action of wind and wave currents;

an oscillating hydrofoil device arranged below the vessel-type floating platform, comprising a plurality of oscillating hydrofoil modules (300) configured with hydrofoils (301);

the hydraulic control device is arranged on the oscillating hydrofoil module (300) and comprises a plurality of hydraulic control modules (400) matched with the oscillating hydrofoil module (300), and the hydrofoil (301) can rotate around a shaft under the action of wave energy so as to drive the oscillating hydrofoil module (300) to generate electricity; at the same time, the hydraulic control module (400) is able to adjust the rotational damping and the operating angle of the hydrofoil (301) so that the oscillating hydrofoil module (300) obtains the required power generation efficiency.

2. A floating wind turbine with oscillating hydrofoil apparatus according to claim 1, characterized in that the oscillating hydrofoil module (300) has a hydraulic ram (303), and the rotation of the hydrofoil (301) around the shaft can drive the hydraulic ram (303) to telescope and thereby cause the oscillating hydrofoil module (300) to generate electricity.

3. A floating wind turbine with oscillating hydrofoil means according to claim 2, characterized in that the oscillating hydrofoil module (300) further comprises a frame (304), a limiting means (305), one side of the hydrofoil (301) is in a running fit with the bottom of the frame (304), the middle part of the hydrofoil (301) is in a movable fit with the top of the frame (304) by means of a hydraulic cylinder (303);

the limiting device (305) is used for limiting the maximum rotation angle of the hydrofoil (301).

4. A floating wind turbine with oscillating hydrofoil apparatus according to claim 3, characterized in that said hydraulic control modules (400), each of said hydraulic control modules (400) controlling one of said oscillating hydrofoil modules (300) in correspondence, the hydraulic control modules (400) comprising an electric control device (401), a hydraulic pump (402), a multi-way valve (403), a hydraulic power converter (404) and hydraulic auxiliaries (405);

the electric control equipment (401) is respectively in control connection with the hydraulic pump (402) and the multi-directional valve (403) so as to control the flow direction of hydraulic oil in the hydraulic control module (400), the hydraulic power converter (404) is connected with the hydraulic auxiliary (405) through the multi-directional valve (403), and the hydraulic auxiliary (405) is connected with the hydraulic oil cylinder (303).

5. A floating wind turbine with oscillating hydrofoil apparatus according to claim 1, characterized in that said single point mooring means (102) is connected to said vessel-type floating platform by a plurality of mooring means connection frames (106);

the single point mooring (102) limits the freedom of the boat-type floating platform in the horizontal direction by means of a plurality of said anchor chains (103).

6. The floating wind turbine with oscillating hydrofoil device of claim 1, further comprising an acquisition system and a control hub, wherein the acquisition system is used for acquiring real-time operation data and operation sea state data on an execution system and providing the real-time operation data and operation sea state data to the control hub for data processing and instruction decision-making;

the control center can process and analyze the real-time operation data and the operation sea state data collected by the collection system and send the autonomous operation and operation instructions to the execution system for execution.

7. The floating wind turbine with oscillating hydrofoil apparatus of claim 6, wherein the acquisition system comprises at least one of an accelerometer and gyroscope, a wind speed and direction sensor, a wave height and direction sensor, a water pressure flow rate sensor, a hydrofoil attitude sensor, a hydro-cylinder hydraulic sensor, and various power generation module sensors;

The control center comprises a data processing module, an operation monitoring module, an operation control module and an emergency standby module, wherein the data processing module can perform primary filtering impurity removal and conversion treatment on data collected by the acquisition system, obtain various measured physical quantities and submit the various measured physical quantities to other three modules, the operation monitoring module converts the data into a chart and presents the chart to staff for remote real-time monitoring through a visual interface, the operation control module outputs operation instructions to the execution system, and the operation instructions comprise hydrofoil posture adjustment instructions, oil cylinder hydraulic adjustment instructions, wind turbine generator system power generation instructions and hydraulic power generation system power generation instructions; the emergency standby module can be used for emergently taking over control under the extreme condition that the operation control module fails, the emergency standby module provides a manual control channel of the execution system, and after the emergency standby module is switched to the emergency standby module under an emergency condition, the manual control of each part can be realized so as to ensure that the execution system gets rid of the trouble and avoids danger under the emergency condition.

8. A control method of a floating wind turbine with an oscillating hydrofoil device is characterized by comprising the following specific operation steps:

Step 1: carrying a proper number of oscillating hydrofoil modules (300) and anchor chains (103) on a ship type floating platform according to the sea condition and the working period of the working area, determining working parameters, inputting the working parameters to a control center, and starting and calibrating an acquisition system;

step 2: after the deployment of the execution system is completed, each power generation module is adjusted to a power generation state through a control center, a power generation instruction of a wind generating set (200) is automatically issued by an operation control module according to the wind speed and the wind direction obtained by an acquisition system, the wind generating set (200) starts to work, the optimal working angle and the optimal motion damping of the hydrofoil (301) are calculated by a data processing module according to the motion speed, the acceleration, the pitching motion speed of the hydrofoil and the water pressure and the flow speed near the hydrofoil of a ship type floating platform obtained by the acquisition system, and the hydraulic control module (400) starts to control the flow speed of hydraulic oil so as to change the motion damping of the hydrofoil (301) according to the longitudinal position and the transverse position of an oscillation hydrofoil module (300);

step 3: the hydrofoil (301) moves along with the movement of the ship-shaped floating platform, under the action of water pressure and hydraulic cylinder damping, the hydrofoil (301) moves in a pitching mode around the rotating shaft (302), when the ship-shaped floating platform moves in a pitching mode, the hydrofoil (301) at the bow and the stern is driven to do opposite-direction heave movement, when the ship-shaped floating platform moves in a heave mode, the hydrofoil (301) at the bow and the stern is driven to do the same-direction heave movement, when the hydrofoil (301) rotates around the shaft along the first direction, the hydraulic cylinder (303) passively stretches and the internal hydraulic pressure is reduced, hydraulic oil in the oil storage tank flows into the hydraulic cylinder through the hydraulic power converter (404), and the system generates electricity; when the hydrofoil (301) rotates around the shaft along the second direction, the hydraulic oil cylinder (303) is shortened, the internal hydraulic pressure is increased, hydraulic oil flows into an oil storage tank from the hydraulic oil cylinder (303) through a hydraulic power converter (404), and the system generates electricity; one hydrofoil (301) movement cycle corresponds to two power generation processes of the hydraulic power converter (404), wherein the first direction is opposite to the second direction.

Step 4: and the execution system keeps a normal operation state to continuously generate power, and if the difference between the optimal working angle or the optimal motion damping of the hydrofoil (301) calculated by the data processing module and the current parameter exceeds a preset value, a corresponding adjustment instruction is automatically issued to the operation execution module to improve the overall power generation efficiency of the execution system.

9. The method of controlling a floating wind turbine having an oscillating hydrofoil apparatus of claim 8, wherein the control hub will issue an alarm to alert personnel when extreme conditions are encountered; meanwhile, the priority of reducing the load of the anchor chain is improved in the control center decision method, namely, between the optimal power generation efficiency and the optimal survival condition, the latter is decided and selected, and the hydrofoil (301) actively adjusts the angle to reduce the load born by the anchor chain to the greatest extent; and (4) repeating the steps 1-4 after the extreme working condition is finished, and performing the system to perform normal operation again to generate power.

10. The method for controlling a floating wind turbine having an oscillating hydrofoil apparatus according to claim 8, wherein the operating parameters include at least one of operating water depth, anchor chain pretension, statistical wind speed in the sea area, statistical wave height in the sea area, wave period, initial hydrofoil attitude, initial hydraulic ram length, and hydraulic ram limit stroke;

The optimal working angle refers to an angle when the hydrofoil (301) reaches maximum energy conversion efficiency under the determined incoming flow speed, self-sinking movement speed and pitch angle speed, and the movement damping of the hydrofoil (301) at the moment is defined as optimal movement damping, wherein the optimal working angle can be realized by adjusting the stroke of the hydraulic oil cylinder (303), and the optimal movement damping can be realized by adjusting the flow rate of hydraulic oil in the hydraulic oil cylinder (303).

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