CN118008723A - Floating wind turbine pose monitoring and adjusting system and method - Google Patents
Floating wind turbine pose monitoring and adjusting system and method Download PDFInfo
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Abstract
The invention provides a system and a method for monitoring and adjusting the pose of a floating wind turbine, which relate to the technical field of floating wind turbines, and utilize a wind turbine pose monitoring module to monitor the current moment wind turbine pose data of six-degree-of-freedom motion of the floating wind turbine; based on the current-moment fan attitude data, predicting target-moment fan attitude data, and transmitting the target-moment fan attitude data to a pose adjustment module; and adjusting the pose of the six-degree-of-freedom motion of the floating wind turbine based on the target moment fan pose data. The invention reduces the fluctuation of the pneumatic load and the pneumatic performance of the floating wind turbine, ensures the stability of the power generation power, improves the power generation efficiency and ensures the structural safety and stability of the floating wind turbine.
Description
Technical Field
The invention relates to the technical field of floating wind turbines, in particular to a system and a method for monitoring and adjusting the pose of a floating wind turbine.
Background
Under the background that land wind power growth is limited, offshore wind power becomes a key strategic direction of propulsion energy transformation, and has the advantages of high power generation stability, small land occupation resource, relatively low large-scale development difficulty and the like, so that the offshore wind power becomes a new trend of the future wind power industry. As global offshore wind turbines move from offshore to deep sea, floating wind turbine technology becomes one of the hot spot research directions. Compared with land fixed fans, the advantages of the open sea floating wind turbine are mainly concentrated in the following three aspects: firstly, the offshore wind energy is sufficient, continuous and stable, and the turbulence intensity and wind shearing of the wind energy are small, so that the output power of the offshore wind power is high and stable; secondly, no underwater fixing part is arranged, so that the installation and disassembly procedures are simplified, the layout is simple, the requirements on the submarine geology are reduced, and the huge installation and maintenance cost is saved; and thirdly, the installation site is flexible, the installation site is far away from the coast, the noise pollution is low, and the interference to fishery, shipping and residents is avoided.
Under the action of wind and wave currents, the floating wind turbine has obvious six-degree-of-freedom motion: the interaction of wind wheels and wake flows can be caused by pitching, rolling, swaying, rolling, pitching and swaying movements, so that the complexity of the wake flows is increased, and the power and the thrust of the wind turbine are reduced; the horizontal swinging movement can cause uneven stress of the wind wheel, induce the bow swinging movement and seriously influence the aerodynamic performance of the wind turbine; under the actions of rolling, heave and bow, the angle between the rotation plane of the wind wheel and the incoming wind speed changes, so that the tail trace of the wind turbine is distorted, the aerodynamic performance of the wind turbine is affected, and the fluctuation of aerodynamic load is aggravated; therefore, the six-degree-of-freedom motion can change the windward angle and the motion speed of the wind wheel, so that the blade is subjected to severe change around the flow field, the blade generates unsteady pneumatic load, the pneumatic efficiency is reduced, the fatigue damage is aggravated, and the safety of the unit is greatly influenced. The existing floating wind turbine is poor in foundation stability, large-amplitude six-degree-of-freedom motion is easy to occur under the action of strong wind and wave currents, and if the position and the posture of the floating wind turbine are not properly regulated and controlled in time, structural fatigue of the floating wind turbine can be increased, power generation efficiency is reduced, and safety, durability and economy of the floating wind turbine are affected.
Disclosure of Invention
In order to solve the problems of low power generation efficiency and poor structural safety and stability in the prior art, the invention provides a floating wind turbine pose monitoring and adjusting system and method, which improve the power generation efficiency and ensure the structural safety and stability of the floating wind turbine.
The health condition diagnosis method and system for the wind generating set components can ensure that the health degree and the energy efficiency level of the components are consistent, so that when the energy efficiency diagnosis levels of the components are the same, the value range of the health degree corresponding to the components is the same, and the diagnosis accuracy of the health condition of the components is improved.
In order to achieve the technical effects, the technical scheme of the invention is as follows:
a floating wind turbine pose monitoring and adjusting system, comprising:
The fan pose monitoring module is used for monitoring current moment fan pose data of six-degree-of-freedom motion of the floating wind turbine, predicting target moment fan pose data based on the current moment fan pose data, and transmitting the target moment fan pose data to the pose adjusting module;
And the pose adjusting module is used for adjusting the pose of the six-degree-of-freedom motion of the floating wind turbine according to the target moment fan pose data.
Preferably, the fan pose monitoring module comprises a six-dimensional acceleration sensor, a pose state prediction sub-module and an amplifier which are sequentially connected, wherein the six-dimensional acceleration sensor is used for monitoring fan pose data at the current moment of six-degree-of-freedom motion of the floating wind turbine; the pose state prediction submodule is used for predicting the pose data of the fan at the target moment according to the pose data of the fan at the current moment; the amplifier is used for transmitting the fan gesture data at the target moment to the gesture adjusting module.
Preferably, the predicting the fan gesture data at the target time includes:
Acquiring wind wave flow meteorological data and adjustment information of the pose adjustment module at the last moment;
and taking the current moment fan attitude data, the wind wave flow meteorological data and the adjustment information as inputs of a pre-trained pose state prediction model, and outputting target moment fan attitude data influenced by wind load, wave load and ocean current load by the pose state prediction model.
Preferably, the outputting the target moment fan attitude data affected by wind load, wave load and ocean current load includes:
Wind load F wind, wave load F w, and ocean current load F c are calculated, and the wind load F wind is calculated as follows:
Fwind＝CKhqA
the calculated expression of the wave load F w is as follows:
the calculation expression of the ocean current load F c is as follows:
Wherein C represents a wind power coefficient, K h represents a wind height variation coefficient, q represents a calculated wind pressure, A represents a windward area of a structure, ρ w represents a sea water density, C d represents a drag force coefficient, C m represents an inertial force coefficient, D p represents a characteristic length of a floating wind turbine foundation, u x represents a water particle velocity component perpendicular to a member axis, u c represents a member velocity component perpendicular to the member axis, The acceleration of the wave and the ocean current in the horizontal direction is represented;
Under the action of the wind load F wind, the wave load F w and the ocean current load F c, constructing a frequency domain motion equation of the floating wind turbine;
And solving the frequency domain motion equation by using the pose state prediction model to obtain the fan pose data at the target moment.
Preferably, the power adjustment submodule comprises a water pump and a water pipe, the intelligent control submodule is connected with the water pump, the water pump is connected with the water pipe, a flow regulation control device is arranged on the water pump, and the flow regulation control device controls the water quantity in the water pipe through driving the water pump and monitors the water quantity in the water pipe.
Preferably, the water pipe comprises a first pipeline, a second pipeline, a third pipeline, a fourth pipeline, a fifth pipeline, a sixth pipeline and a circular pipeline which are distributed and communicated on the same horizontal line, the fourth pipeline, the fifth pipeline and the sixth pipeline are in triangular connection to form a triangular pipeline together, three corners of the triangular pipeline are respectively connected with one ends of the first pipeline, the second pipeline and the third pipeline, the other ends of the first pipeline, the second pipeline and the third pipeline are connected with the water pump, the circular pipeline takes the water pump as a center and is arranged below the first pipeline, the second pipeline, the third pipeline, the fourth pipeline, the fifth pipeline and the sixth pipeline, and a rotating motor for driving damping liquid to rotate in the circular pipeline is arranged in the circular pipeline.
Preferably, the target moment fan gesture data at least includes a six-degree-of-freedom motion direction, a six-degree-of-freedom motion displacement s and a six-degree-of-freedom motion angle θ of the floating wind turbine at the target moment, and the adjusting of the six-degree-of-freedom motion pose of the floating wind turbine according to the target moment fan gesture data includes:
judging whether the six-degree-of-freedom movement displacement s is larger than a displacement threshold s 0 or whether the six-degree-of-freedom movement angle theta is larger than an angle threshold theta 0 in the six-degree-of-freedom movement direction of the floating wind turbine, if so, driving the water pump to pump water or drain water in the water pipe, and controlling the water quantity in the water pipe so as to adjust the pose of the floating wind turbine; if not, the pose of the floating wind turbine is not adjusted.
Preferably, the wind power generation device further comprises a wave power generation module, wherein the wave power generation module comprises an energy absorption equipment direction adjusting submodule for absorbing the wave kinetic energy in the six-degree-of-freedom motion direction of the floating wind turbine and a wave power generation device for converting the wave kinetic energy into electric energy.
The invention also provides a method for monitoring and adjusting the pose of the floating wind turbine, which comprises the following steps:
monitoring fan pose data of the floating wind turbine at the current moment of six-degree-of-freedom motion by using a fan pose monitoring module;
based on the current-moment fan attitude data, predicting target-moment fan attitude data, and transmitting the target-moment fan attitude data to a pose adjustment module;
Based on the fan attitude data at the target moment, the attitude adjusting module is utilized to adjust the six-degree-of-freedom motion attitude of the floating wind turbine.
Compared with the prior art, the technical scheme of the invention has the beneficial effects that:
The invention provides a floating wind turbine pose monitoring and adjusting system and a method, wherein a wind turbine pose monitoring module is used for monitoring current moment wind turbine pose data of six-degree-of-freedom motion of a floating wind turbine, predicting target moment wind turbine pose data, avoiding hysteresis of target moment wind turbine pose data transmission and action response delay of a pose adjusting module, preventing aggravation of six-degree-of-freedom motion of the floating wind turbine, and adjusting the pose of the six-degree-of-freedom motion of the floating wind turbine according to the target moment wind turbine pose data, so that the advancing and real-time adjustment of the pose of the floating wind turbine are realized, and the real-time adjustment of the pose of the wind turbine is ensured by predicting the target moment wind turbine pose data in advance, and further avoiding aggravation of six-degree-of-freedom motion of the wind turbine due to pose information lag; furthermore, the position and posture monitoring module of the wind turbine is combined with the position and posture adjusting module, so that the position and posture of the six-degree-of-freedom motion of the floating wind turbine are adjusted, the motion amplitude and the attenuation time of the six-degree-of-freedom motion of the floating wind turbine are effectively weakened or even suppressed, the posture balance of the floating wind turbine is intelligently adjusted, the occurrence of large-range displacement of the floating wind turbine is suppressed, the fluctuation of the pneumatic load and the pneumatic performance of the floating wind turbine is reduced, the stability of the power generation power of the floating wind turbine is ensured, the power generation efficiency is improved, and the structural safety and the structural stability of the floating wind turbine are ensured.
Drawings
FIG. 1 shows a block diagram of a floating wind turbine pose monitoring and adjusting system provided in an embodiment of the present invention;
FIG. 2 is a control flow diagram of a floating wind turbine pose monitoring and adjusting system provided in an embodiment of the present invention;
FIG. 3 illustrates a first view angle block diagram of a floating body provided in an embodiment of the present invention;
FIG. 4 illustrates a second view angle block diagram of a floating body provided in an embodiment of the present invention;
Fig. 5 shows a block diagram of a wave energy power module provided in an embodiment of the invention;
FIG. 6 shows a blade structure diagram for wave energy power generation provided in an embodiment of the present invention;
FIG. 7 illustrates a blade airfoil for wave energy power generation provided in an embodiment of the invention;
FIG. 8 is a flow chart of a method for monitoring and adjusting the pose of a floating wind turbine according to an embodiment of the present invention.
1. The position and posture monitoring module of the fan; 2. the pose adjusting module; 21. an intelligent control sub-module; 22. a power adjustment sub-module; 221. a water pump; 2211. a flow rate adjustment control device; 2212. an energy storage device; 222. a water pipe; 2221. a first pipe; 2222. a second pipe; 2223. a third conduit; 2224. a fourth conduit; 2225. a fifth pipe; 2226. a sixth conduit; 2227. a circular pipe; 2228. a rotating electric machine; 3. a wave energy power generation module; 31. an energy absorption device direction adjustment sub-module; 311. a motor; 312. a direction adjuster; 313. a connecting rod; 32. a wave power generation device; 321. driving a direct-current permanent magnet motor; 322. and a voltage stabilizing rectifying device.
Detailed Description
The drawings are for illustrative purposes only and are not to be construed as limiting the present patent;
It will be appreciated by those skilled in the art that some well known descriptions in the figures may be omitted;
in order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art. It should be understood that the step numbers used herein are for convenience of description only and are not limiting as to the order in which the steps are performed.
Example 1
As shown in fig. 1, the embodiment proposes a fan pose monitoring module 1, configured to monitor current moment fan pose data of six-degree-of-freedom motion of a floating wind turbine, predict target moment fan pose data based on the current moment fan pose data, and transmit the target moment fan pose data to a pose adjusting module 2;
in the fan pose monitoring module 1, the fan pose monitoring module 1 is arranged on a cabin of a floating wind turbine and comprises a six-dimensional acceleration sensor, a pose state prediction submodule and an amplifier which are sequentially connected, wherein the six-dimensional acceleration sensor is used for monitoring fan pose data of the floating wind turbine at the current moment of six-degree-of-freedom motion; the pose state prediction submodule is used for predicting the pose data of the fan at the target moment according to the pose data of the fan at the current moment; the amplifier is used for transmitting the fan gesture data at the target moment to the gesture adjusting module 2.
And the pose adjusting module 2 is used for adjusting the pose of the six-degree-of-freedom motion of the floating wind turbine according to the target moment fan pose data.
The predicted target moment fan attitude data, see fig. 2, includes:
Acquiring wind wave flow meteorological data and adjustment information of the pose adjustment module 2 at the last moment;
and taking the current moment fan attitude data, the wind wave flow meteorological data and the adjustment information as inputs of a pre-trained pose state prediction model, and outputting target moment fan attitude data influenced by wind load, wave load and ocean current load by the pose state prediction model.
The wind wave flow meteorological data are acquired through a meteorological bureau or sea state detection device, the pose state prediction model is an LSTM neural network, and the LSTM neural network can process continuous sequence data and allow persistence of information; the target time is set to be 5min, and in the actual application process, the target time can be set to be other values;
The outputting of the target moment fan attitude data affected by wind load, wave load and ocean current load includes:
Wind load F wind, wave load F w, and ocean current load F c are calculated, and the wind load F wind is calculated as follows:
Fwind＝CKhqA
the calculated expression of the wave load F w is as follows:
the calculation expression of the ocean current load F c is as follows:
Wherein C represents a wind power coefficient, K h represents a wind height variation coefficient considering the influence of the body type and the size of the structure on wind pressure, q represents a calculated wind pressure, A represents a windward area of the structure, ρ w represents a sea water density, C d represents a drag force coefficient, C m represents an inertial force coefficient, D p represents a characteristic length of a foundation of the floating wind turbine, u x represents a water particle velocity component perpendicular to the member axis, u c represents a member velocity component perpendicular to the member axis, Indicating the acceleration of the wave and current in the horizontal direction.
Under the action of the wind load F wind, the wave load F w and the ocean current load F c, simplifying the motion of the floating wind turbine into simple harmonic motion, and constructing a frequency domain motion equation of the floating wind turbine by taking a system with mass, rigidity and damping as simple harmonic vibration according to a potential flow theory and a radiation/diffraction theory, wherein the expression of the frequency domain motion equation is as follows:
Wherein M is a platform quality matrix; m (t) is an additional mass matrix; q (t) is a damping coefficient matrix; k is a rigidity matrix of the floating wind turbine platform; a (t), v (t) and x (t) are acceleration, movement speed and movement displacement of the floating wind turbine respectively; τ is time; f (t- τ) is a system delay function; f (t) is an environmental load; m is the mass of the platform; i xx、Iyy、Izz is the moment of inertia of the floating wind turbine platform around the x, y and z axes respectively.
Solving the frequency domain motion equation by using the pose state prediction model to obtain the fan pose data at the target moment, namely the fan pose data after 5 minutes;
According to the fan posture data after 5min, the posture adjustment module 2 starts the water pump 221 to perform pumping/draining actions according to the needs, and adjusts the water quantity of the pipeline 4 connected with the water pump 221 in advance so as to realize the basic balance of the fan.
The position and posture adjustment module 2 is shown in fig. 1, wherein the position and posture adjustment module 2 is arranged on a floating body of the floating wind turbine and comprises an intelligent control sub-module 21 and a power adjustment sub-module 22, and the intelligent control sub-module 21 is used for receiving the target moment fan posture data and sending control information to the power adjustment sub-module 22 according to the target moment fan posture data; the power adjustment sub-module 22 is configured to provide power to adjust the six-degree-of-freedom motion pose of the floating wind turbine according to the control information.
The power adjustment sub-module 22 comprises a water pump 221 and a water pipe 222, the intelligent control sub-module 21 is connected with the water pump 221, the water pump 221 is connected with the water pipe 222, referring to fig. 3 and 4, a flow adjustment control device 2211 is arranged on the water pump 221, the flow adjustment control device 2211 controls the water quantity in the water pipe 222 through driving the water pump 221, monitors the water quantity in the water pipe 222, and is convenient for realizing independent adjustment of the water quantity in each pipe, and the water pumping quantity or the water discharging quantity of the water pump 221 and the water quantity information of each pipe are transmitted back to the pose adjustment module 2.
The water pipes 222 include a first pipe 2221, a second pipe 2222, a third pipe 2223, a fourth pipe 2224, a fifth pipe 2225, a sixth pipe 2226 and a circular pipe 2227 which are distributed and communicated on the same horizontal line, the fourth pipe 2224, the fifth pipe 2225 and the sixth pipe 2226 are connected in a triangle shape to form a triangle pipe together, three corners of the triangle pipe are respectively connected with one ends of the first pipe 2221, the second pipe 2222 and the third pipe 2223, the other ends of the first pipe 2221, the second pipe 2222 and the third pipe 2223 are connected with the water pump 221, the circular pipe 2227 is centered on the water pump 221 and is arranged below the first pipe 2221, the second pipe 2222, the third pipe 2223, the fourth pipe 2224, the fifth pipe 2225 and the sixth pipe 2226, and a rotating motor 8 for driving damping fluid to rotate in the circular pipe 2227 is arranged in the circular pipe; the circular pipe 227 is filled with damping fluid, the internal damping fluid is kept in a rotating state, the rotating direction is opposite to the bow-rolling direction, so that the bow-rolling damping is increased, the bow-rolling angle of the floating wind turbine is restrained, and the damping time is shortened.
It should be specifically noted that, by adjusting the 6 pipes of the foundation horizontal plane, the first pipe 2221, the second pipe 2222, the third pipe 2223, the fourth pipe 2224, the fifth pipe 2225 and the sixth pipe 2226, the adjustment of the pose balance of the wind turbine is realized, the structure is simpler, and because the foundation pipes of the first pipe 2221, the second pipe 2222, the third pipe 2223, the fourth pipe 2224, the fifth pipe 2225 and the sixth pipe 2226 are communicated, the adjustment of the six-degree-of-freedom motion inclination angle of the floating wind turbine is mainly related to the water difference value of each pipe of the foundation, so the water is directly injected into the pipes for adjustment, and the foundation structure is simpler.
In the embodiment, firstly, a fan pose monitoring module 1 is used for monitoring the current moment fan pose data of six-degree-of-freedom motion of the floating wind turbine, and predicting target moment fan pose data, so that the hysteresis of target moment fan pose data transmission and the action response delay of a pose adjusting module 2 are avoided, the six-degree-of-freedom motion of the floating wind turbine is prevented from being aggravated, secondly, the pose of the six-degree-of-freedom motion of the floating wind turbine is adjusted according to the target moment fan pose data through the pose adjusting module 2, the advance and real-time adjustment of the pose of the floating wind turbine are realized, and the real-time adjustment of the pose of the fan is ensured by predicting the target moment fan pose data in advance, and the situation that the six-degree-of-freedom motion of the floating wind turbine is aggravated due to pose adjustment caused by pose information hysteresis is avoided; furthermore, the position and posture monitoring module 1 and the position and posture adjusting module 2 are combined to realize the adjustment of the six-degree-of-freedom motion position and posture of the floating wind turbine, effectively weaken and even restrain the six-degree-of-freedom motion amplitude and the attenuation time of the floating wind turbine, intelligently adjust the posture balance of the floating wind turbine and restrain the occurrence of large-range displacement of the floating wind turbine, reduce the fluctuation of the pneumatic load and the pneumatic performance of the floating wind turbine, ensure the stability of the power generation power of the floating wind turbine, improve the power generation efficiency and ensure the structural safety and the stability of the floating wind turbine.
Example 2
The fan attitude data at the target moment at least comprises a six-degree-of-freedom motion direction, a six-degree-of-freedom motion displacement s and a six-degree-of-freedom motion angle theta of the floating wind turbine at the target moment, wherein the target moment is 5min, the six-degree-of-freedom motion direction comprises a heave, a roll, a pitching and a bow, and the six-degree-of-freedom motion attitude of the floating wind turbine is adjusted according to the fan attitude data at the target moment, and the method comprises the following steps:
Judging whether the six-degree-of-freedom movement displacement s is larger than a displacement threshold s 0 or whether the six-degree-of-freedom movement angle theta is larger than an angle threshold theta 0 in the six-degree-of-freedom movement direction of the floating wind turbine, if so, driving the water pump 221 to pump water or drain water in the water pipe, and controlling the water quantity in the water pipe so as to adjust the pose of the floating wind turbine; if not, the pose of the floating wind turbine is not adjusted.
Wherein, after predicting the shaking inclination angle θ of the floating wind turbine after 5min, the intelligent control submodule 21 adjusts the water quantity of each pipeline through the water pump 221, increases the corresponding motion damping, and reduces the shaking amplitude and the damping time, including:
When it is predicted that the floating wind turbine will perform pitching, rolling or rolling motion after 5min, and the inclination angle θ is greater than θ 0, the intelligent control submodule 21 combines the raw water volume of each pipeline, the load condition outside the foundation, and the size and direction of the predicted value θ, calculates the mass distribution in the first pipeline 2221, the second pipeline 2222, the third pipeline 2223, the fourth pipeline 2224, the fifth pipeline 2225 and the sixth pipeline 2226 according to numerical simulation, adjusts the overall water volume in the pipelines by pumping/draining water of the water pump 221, and specifically adjusts the pipeline mass distribution by the flow adjustment control device 2211, so that the damping force sum of the pipeline water volumes is sufficient to offset the external load, slow down or inhibit the pitching or rolling angle of the floating wind turbine, and shorten the damping time.
When the floating wind turbine is predicted to be in heave motion after 5 minutes, and the heave displacement s is more than s 0, the pumping or water displacement of the water pump 221 is regulated by judging the heave direction, namely the positive and negative of the heave displacement, so that the overall draft of the foundation is increased or reduced, and the heave amplitude of the floating wind turbine and the decay time of the heave amplitude are reduced; when the floating wind turbine is predicted to heave in the positive z direction, that is, s is greater than 0, the water pump 221 pumps water, the basic draft increases, and the stability of the foundation is improved while the heave motion amplitude is restrained, wherein s is a vector, and the method comprises the following steps: s x、sy、sz, if s z >0, representing heave of the floating wind turbine in the positive z direction; when the floating wind turbine is monitored to heave in the z negative direction, namely s z is smaller than 0, the water pump 221 drains water, the basic draft is reduced, and the heave motion amplitude is restrained;
When it is predicted that the floating wind turbine is about to perform a rolling and pitching motion after 5 minutes, and the motion displacement s is greater than s 0, the intelligent control submodule 21 combines the raw water quantity of each pipeline, the load condition outside the foundation, the size and the direction of the predicted value s, calculates the mass distribution in the first pipeline 2221, the second pipeline 2222 and the third pipeline 2223 according to numerical simulation, adjusts the integral water quantity in the pipelines through pumping/draining of the water pump 221, and specifically adjusts the pipeline mass distribution through the flow adjusting control device 2211, so that the damping force sum of the pipeline water quantity is sufficient to offset the external load, slow down or inhibit the rolling or pitching angle of the floating wind turbine, and shorten the damping time.
When the position and the posture of the floating wind turbine are predicted to be balanced after 5 minutes, the intelligent control submodule 21 does not act, and the situation that the position and the posture of the floating wind turbine are adjusted too much due to repeated actions is avoided, so that side effects are generated.
Example 3
Referring to fig. 5, the system for monitoring and adjusting the pose of the floating wind turbine according to the above embodiment further includes a wave power generation module 3, where the wave power generation module 3 includes an energy absorption device direction adjustment sub-module 31 for absorbing the kinetic energy of the ocean wave in the six-degree-of-freedom motion direction and a wave power generation device 32 for converting the ocean wave kinetic energy into electric energy.
The energy-absorbing device direction adjustment submodule 31 consists of a motor 311, a direction adjuster 312 and a connecting rod 313, and the connecting rod 313 is connected with the water pipe 222 through the direction adjuster 312.
Referring to fig. 2 and 5, when it is predicted that the floating wind turbine is about to perform a heave, pitch or roll motion, according to the pose information, the motor 311 of the energy absorbing device direction adjustment sub-module 31 is operated to adjust the direction of the direction adjuster 312 so that the convection direction of the wave power generation device 32 coincides with the direction of the floating wind turbine motion (heave, pitch or roll), absorbing the wave kinetic energy, which may be stored in the energy storage device 2212 of the water pump 221.
When the intelligent control sub-module 21 receives the pose information that the floating wind turbine is at the yaw, the convection angle of the wave power unit 32 needs to be rotated from the yz plane to the xy plane or from the xz plane to the xy plane due to the yaw movement, which causes the fatigue of the direction regulator 312 of the energy absorbing device direction regulator sub-module 31 to increase, in order to avoid the phenomenon, when the floating wind turbine is predicted to be about to perform the bow-and-roll motion, if the position of the floating wind turbine is swaying, pitching, rolling or pitching at the last moment, the direction of the energy absorption equipment direction adjusting sub-module 31 is kept unchanged to absorb the wave kinetic energy; if the previous moment is heave motion, the direction of the energy absorption equipment direction adjusting sub-module 31 is restored to the initial state to absorb the wave kinetic energy; wherein the power of the motor 311 is taken from the energy storage device 2212 of the water pump 221.
The wave power generation device 32 generates electric energy by driving the direct-current permanent magnet motor 321, and charges the energy storage equipment 2212 of the water pump 221 through the voltage stabilizing and rectifying device 322.
Referring to fig. 6, the wave power device 32 is a three-bladed wave power device, the blade length of which can be reasonably designed and optimized according to the local ocean current conditions; referring to fig. 7, the wave power unit 32 is characterized in that the wing profile is a symmetrical wing profile, the bending degree of the wing profile is zero, and the thicknesses of the upper wing surface and the lower wing surface are equal, namely t 1＝t2. The use of symmetrical wing type blades can realize that the floating wind turbine can absorb the wave kinetic energy in the process of pitching and swaying and reciprocating, and the angle of the direction adjusting sub-module 31 of the energy absorbing equipment does not need to be changed again; the wave power generation device 32 converts kinetic energy of waves into electric energy, the water pump 221 is supplied with energy preferentially, and when the energy storage equipment 2212 of the water pump 221 is full, the excessive electric energy is transmitted to the power grid, so that the overall power generation efficiency is improved.
Example 4
A method for monitoring and adjusting the pose of a floating wind turbine comprises the following steps:
S1, monitoring fan pose data of a floating wind turbine at the current moment of six-degree-of-freedom motion by using a fan pose monitoring module;
s2, predicting target moment fan attitude data based on the current moment fan attitude data, and transmitting the target moment fan attitude data to a pose adjustment module;
S3, based on the fan attitude data at the target moment, adjusting the six-degree-of-freedom motion pose of the floating wind turbine by utilizing the pose adjustment module.
In the embodiment, firstly, a fan pose monitoring module is used for monitoring current moment fan pose data of six-degree-of-freedom motion of the floating wind turbine, and predicting target moment fan pose data, so that hysteresis of target moment fan pose data transmission and action response delay of a pose adjusting module are avoided, six-degree-of-freedom motion of the floating wind turbine is prevented from being aggravated, secondly, the pose of the six-degree-of-freedom motion of the floating wind turbine is adjusted according to the target moment fan pose data through the pose adjusting module, advanced and real-time adjustment of the pose of the floating wind turbine is realized, real-time adjustment of the pose of the fan is guaranteed by predicting the target moment fan pose data in advance, and further, the six-degree-of-freedom motion of the floating wind turbine is prevented from being aggravated due to pose adjustment caused by pose information hysteresis; furthermore, the position and posture monitoring module of the wind turbine is combined with the position and posture adjusting module, so that the position and posture of the six-degree-of-freedom motion of the floating wind turbine are adjusted, the motion amplitude and the attenuation time of the six-degree-of-freedom motion of the floating wind turbine are effectively weakened or even suppressed, the posture balance of the floating wind turbine is intelligently adjusted, the occurrence of large-range displacement of the floating wind turbine is suppressed, the fluctuation of the pneumatic load and the pneumatic performance of the floating wind turbine is reduced, the stability of the power generation power of the floating wind turbine is ensured, the power generation efficiency is improved, and the structural safety and the structural stability of the floating wind turbine are ensured.
It is to be understood that the above examples of the present invention are provided by way of illustration only and are not intended to limit the scope of the invention. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are desired to be protected by the following claims.
Claims (10)
1. A floating wind turbine pose monitoring and adjusting system is characterized by comprising:
The fan pose monitoring module is used for monitoring current moment fan pose data of six-degree-of-freedom motion of the floating wind turbine, predicting target moment fan pose data based on the current moment fan pose data, and transmitting the target moment fan pose data to the pose adjusting module;
And the pose adjusting module is used for adjusting the pose of the six-degree-of-freedom motion of the floating wind turbine according to the target moment fan pose data.
2. The floating wind turbine pose monitoring and adjusting system according to claim 1, wherein the fan pose monitoring module comprises a six-dimensional acceleration sensor, a pose state predicting sub-module and an amplifier which are sequentially connected, wherein the six-dimensional acceleration sensor is used for monitoring current moment fan pose data of six-degree-of-freedom motion of the floating wind turbine; the pose state prediction submodule is used for predicting the pose data of the fan at the target moment according to the pose data of the fan at the current moment; the amplifier is used for transmitting the fan gesture data at the target moment to the gesture adjusting module.
3. The floating wind turbine pose monitoring and adjustment system of claim 2, wherein the predicted target moment fan pose data comprises:
Acquiring wind wave flow meteorological data and adjustment information of the pose adjustment module at the last moment;
and taking the current moment fan attitude data, the wind wave flow meteorological data and the adjustment information as inputs of a pre-trained pose state prediction model, and outputting target moment fan attitude data influenced by wind load, wave load and ocean current load by the pose state prediction model.
4. A floating wind turbine pose monitoring and adjustment system according to claim 3 wherein said outputting target moment wind turbine pose data affected by wind load, wave load and ocean current load comprises:
Wind load F wind, wave load F w, and ocean current load F c are calculated, and the wind load F wind is calculated as follows:
Fwind＝CKhqA
the calculated expression of the wave load F w is as follows:
the calculation expression of the ocean current load F c is as follows:
Wherein C represents a wind power coefficient, K h represents a wind height variation coefficient, q represents a calculated wind pressure, A represents a windward area of a structure, ρ w represents a sea water density, C d represents a drag force coefficient, C m represents an inertial force coefficient, D p represents a characteristic length of a floating wind turbine foundation, u x represents a water particle velocity component perpendicular to a member axis, u c represents a member velocity component perpendicular to the member axis, The acceleration of the wave and the ocean current in the horizontal direction is represented;
Under the action of the wind load F wind, the wave load F w and the ocean current load F c, constructing a frequency domain motion equation of the floating wind turbine;
And solving the frequency domain motion equation by using the pose state prediction model to obtain the fan pose data at the target moment.
5. The floating wind turbine pose monitoring and adjusting system according to claim 1, wherein the pose adjusting module comprises an intelligent control sub-module and a power adjusting sub-module, wherein the intelligent control sub-module is used for receiving the target moment fan pose data and sending control information to the power adjusting sub-module according to the target moment fan pose data; and the power adjustment sub-module is used for providing power for adjusting the six-degree-of-freedom motion pose of the floating wind turbine according to the control information.
6. The floating wind turbine pose monitoring and adjusting system according to claim 5, wherein the power adjusting submodule comprises a water pump and a water pipe, the intelligent control submodule is connected with the water pump, the water pump is connected with the water pipe, a flow adjusting control device is arranged on the water pump, and the flow adjusting control device controls the water quantity in the water pipe through driving the water pump and monitors the water quantity in the water pipe.
7. The floating wind turbine pose monitoring and adjusting system according to claim 6, wherein the water pipe comprises a first pipeline, a second pipeline, a third pipeline, a fourth pipeline, a fifth pipeline, a sixth pipeline and a circular pipeline which are distributed and communicated on the same horizontal line, the fourth pipeline, the fifth pipeline and the sixth pipeline are connected in a triangular mode to form a triangular pipeline together, three corners of the triangular pipeline are connected with one ends of the first pipeline, the second pipeline and the third pipeline respectively, the other ends of the first pipeline, the second pipeline and the third pipeline are connected with the water pump, the circular pipeline takes the water pump as a center and is arranged below the first pipeline, the second pipeline, the third pipeline, the fourth pipeline, the fifth pipeline and the sixth pipeline, and a rotating motor for driving damping liquid to rotate in the circular pipeline is arranged in the circular pipeline.
8. The floating wind turbine pose monitoring and adjusting system of claim 7, wherein the target moment fan pose data at least comprises a target moment floating wind turbine six-degree-of-freedom motion direction, a six-degree-of-freedom motion displacement s and a six-degree-of-freedom motion angle θ, and adjusting the pose of the floating wind turbine six-degree-of-freedom motion based on the target moment fan pose data comprises:
judging whether the six-degree-of-freedom movement displacement s is larger than a displacement threshold s 0 or whether the six-degree-of-freedom movement angle theta is larger than an angle threshold theta 0 in the six-degree-of-freedom movement direction of the floating wind turbine, if so, driving the water pump to pump water or drain water in the water pipe, and controlling the water quantity in the water pipe so as to adjust the pose of the floating wind turbine; if not, the pose of the floating wind turbine is not adjusted.
9. The floating wind turbine pose monitoring and adjusting system according to claim 1, further comprising a wave power generation module comprising an energy absorbing device direction adjusting sub-module for absorbing wave kinetic energy in a six-degree-of-freedom motion direction of the floating wind turbine and a wave power generation device for converting the wave kinetic energy into electric energy.
10. The method for monitoring and adjusting the pose of the floating wind turbine is characterized by comprising the following steps of:
monitoring fan pose data of the floating wind turbine at the current moment of six-degree-of-freedom motion by using a fan pose monitoring module;
based on the current-moment fan attitude data, predicting target-moment fan attitude data, and transmitting the target-moment fan attitude data to a pose adjustment module;
Based on the fan attitude data at the target moment, the attitude adjusting module is utilized to adjust the six-degree-of-freedom motion attitude of the floating wind turbine.
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