EP2721286A1 - Procede de fonctionnement d'un convertisseur d'énergie houlomotrice - Google Patents

Procede de fonctionnement d'un convertisseur d'énergie houlomotrice

Info

Publication number
EP2721286A1
EP2721286A1 EP12717201.3A EP12717201A EP2721286A1 EP 2721286 A1 EP2721286 A1 EP 2721286A1 EP 12717201 A EP12717201 A EP 12717201A EP 2721286 A1 EP2721286 A1 EP 2721286A1
Authority
EP
European Patent Office
Prior art keywords
torque
rotor
control
wave
energy converter
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP12717201.3A
Other languages
German (de)
English (en)
Inventor
Benjamin Hagemann
Nik Scharmann
Daniel Thull
Michael Hilsch
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP2721286A1 publication Critical patent/EP2721286A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03B—MACHINES OR ENGINES FOR LIQUIDS
    • F03B3/00—Machines or engines of reaction type; Parts or details peculiar thereto
    • F03B3/12—Blades; Blade-carrying rotors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03B—MACHINES OR ENGINES FOR LIQUIDS
    • F03B13/00—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates
    • F03B13/12—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates characterised by using wave or tide energy
    • F03B13/14—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates characterised by using wave or tide energy using wave energy
    • F03B13/16—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates characterised by using wave or tide energy using wave energy using the relative movement between a wave-operated member, i.e. a "wom" and another member, i.e. a reaction member or "rem"
    • F03B13/18—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates characterised by using wave or tide energy using wave energy using the relative movement between a wave-operated member, i.e. a "wom" and another member, i.e. a reaction member or "rem" where the other member, i.e. rem is fixed, at least at one point, with respect to the sea bed or shore
    • F03B13/1805—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates characterised by using wave or tide energy using wave energy using the relative movement between a wave-operated member, i.e. a "wom" and another member, i.e. a reaction member or "rem" where the other member, i.e. rem is fixed, at least at one point, with respect to the sea bed or shore and the wom is hinged to the rem
    • F03B13/1825—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates characterised by using wave or tide energy using wave energy using the relative movement between a wave-operated member, i.e. a "wom" and another member, i.e. a reaction member or "rem" where the other member, i.e. rem is fixed, at least at one point, with respect to the sea bed or shore and the wom is hinged to the rem for 360° rotation
    • F03B13/183—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates characterised by using wave or tide energy using wave energy using the relative movement between a wave-operated member, i.e. a "wom" and another member, i.e. a reaction member or "rem" where the other member, i.e. rem is fixed, at least at one point, with respect to the sea bed or shore and the wom is hinged to the rem for 360° rotation of a turbine-like wom
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03B—MACHINES OR ENGINES FOR LIQUIDS
    • F03B15/00—Controlling
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/30—Energy from the sea, e.g. using wave energy or salinity gradient

Definitions

  • the present invention relates to a method of operating a wave energy converter and a wave energy converter.
  • Floating known by the lifting and lowering, for example, a Lineargenera- tor is driven.
  • the so-called "Wave Roller” a planar resistance element is attached to the seabed, which is tilted back and forth by the wave motion.
  • the kinetic energy of the resistance element is converted in a generator, for example, into electrical energy.
  • a maximum energy yield of 0.5 can be achieved, so that their economic efficiency is generally unsatisfactory.
  • wave energy converters are of interest, which are arranged substantially below the water surface, and in which a crankshaft or rotor shaft is set in rotation by the wave motion.
  • a crankshaft or rotor shaft is set in rotation by the wave motion.
  • US 2010/0150716 A1 discloses a system of several high-speed rotors with buoyancy rotors in which the rotor period is smaller than the wave period and a separate profile adjustment is made. By a suitable, but not further disclosed adjustment of the lift rotor resulting forces to be generated on the system, which can be used for different purposes.
  • a disadvantage of the system disclosed in US 2010/0150716 A1 is the use of high-speed rotors of the Voith-Schneider type, which require a great deal of effort in adjusting the lift rotor. These must be continuously adjusted in a not inconsiderable angle range in order to be adapted to the prevailing flow conditions prevailing on the lift rotor. To compensate for the forces acting on the individual rotors, resulting from rotor and generator torque forces more rotors are always required at defined distances from each other.
  • the object of the invention is to improve rotating wave energy converters, in particular in the sense of a greater energy yield and a lower constructional and / or control-related expense. Disclosure of the invention
  • the invention provides a way to achieve the largest possible energy yield of the machine over a certain time window.
  • a second torque is specifically predetermined, which is provided by an energy converter coupled to the rotor.
  • predetermining is understood as meaning both open-loop control (also referred to as digits or pilot control) and, more preferably, closed-loop control (also referred to as rules).
  • the energy conversion control serves to deliver a desired energy over a desired period of time.
  • the energy conversion control also influences the orientation of the housing or frame (stator) and the coupling body to the surrounding flow field, so that they are optimal (in terms of the desired energy yield) over the considered time window.
  • the energy conversion control is linked to a position control to prevent unwanted changes in the position (x, y, and z coordinate and rotation ⁇ about all three axes) of the machine, so that no risk to the system and / or the Environment arises.
  • the invention also enables a targeted displacement or rotation of the machine in space and / or a stabilization.
  • the invention presented here generally considers systems with a rotary action principle, e.g. also converters with multiple rotors, such. shown in FIG.
  • the following explanations therefore apply in principle to wave energy converters with one or more rotors.
  • a wave energy converter with at least one, as explained below, advantageously provides synchronous or largely synchronous to a wave (orbital) movement or - rotating rotor for converting energy from a wavy body of water, which is energetically and control technology advantageous, and in which additionally by a corresponding operation targeted (resulting) forces can be influenced and made available for influencing the overall system.
  • a wave energy converter can be a suitable design and operation almost a complete extinction and thus utilization of the incoming wave can be achieved. This is especially true for monochromatic waves.
  • the adjustment of the lift rotor used in a corresponding wave energy converter, ie of coupling bodies, which are adapted to implement a wave motion in a buoyancy force and thus in a torque of a rotor, does not or only to a small extent due to the synchronous or largely synchronous operation, since an incident flow of a corresponding profile is largely carried out over the entire rotation of the profile-carrying rotor away from a same direction of flow.
  • An adjustment of an angle of attack ⁇ as in the known Voith-Schneider rotors (also referred to as pitches), is therefore not necessary, but may be advantageous.
  • the water particles move on largely circular so-called orbital orbits (in the form of an orbital motion or orbital flow, whereby both terms are also used synonymously).
  • the water particles move under a wave crest in the direction of propagation of the wave, under the wave trough against the wave propagation direction and in the two zero crossings upwards or downwards.
  • the flow direction at a fixed point below the water surface (hereinafter referred to as local or instantaneous flow) thus changes continuously with a certain angular velocity O.
  • the orbital flow is largely circular in deep water, in shallow water from the circular orbitals are increasingly flat lying ellipses. A flow may be superimposed on the orbital flow.
  • the orbital radii are dependent on the depth. They are maximal at the surface - here the orbital diameter corresponds to the wave height - and decrease exponentially with increasing water depth. At a water depth of about half the wavelength, therefore, only about 5% of the energy can be obtained as near the water surface. Submerged wave energy converters are therefore preferably operated close to the surface.
  • a rotor is provided with a substantially horizontal rotor axis and at least one coupling body.
  • the rotor advantageously rotates synchronously with the orbital flow at an angular velocity ⁇ and is driven by the orbital flow via the at least one coupling body.
  • a torque in the context of this invention referred to as "first torque” or “rotor (rotating) moment
  • first torque in the context of this invention referred to as "first torque” or “rotor (rotating) moment
  • the coupling Body always a constant local flow.
  • the wave motion can be continuously withdrawn energy and converted by the rotor into a usable torque.
  • coupling body means any structure by means of which the energy of an inflowing fluid can be coupled into a rotor movement or a corresponding rotor moment.
  • Coupling bodies can, as explained below, be designed in particular as a lift rotor (also referred to as a "wing”), but also comprise resistance rotors.
  • the term “synchronicity” may refer to a rotor rotation movement, due to which there is a complete match between the position of the rotor and the direction of the local flow, which is caused by the orbital flow at any time.
  • a "synchronous" rotor rotation movement can also take place in such a way that a defined angle or a defined angular range (ie the phase angle becomes over a revolution within the angular range between the position of the rotor or at least one coupling body arranged on the rotor and the local flow held).
  • the result is therefore a defined phase offset or phase angle ⁇ between the rotor rotational movement ⁇ and the orbital flow O.
  • the "position" of the rotor or of the at least one coupling body arranged on the rotor is always e.g. definable by an imaginary line through the rotor axis and, for example, the axis of rotation or the center of gravity of a coupling body.
  • Such synchronicity is directly derivable especially for monochromatic wave states, ie wave states with always constant orbital flow O.
  • monochromatic wave states ie wave states with always constant orbital flow O.
  • multichromatic wave states it can also be provided that the machine under one only in a certain Frame constant angle to the current flow is operated. This can be a win- define the scope within which the synchronicity is still regarded as being complied with.
  • suitable control measures including the adjustment of at least one coupling body for generating said first torque and / or a braking or accelerating second torque of the energy converter. Not all coupling bodies must necessarily be adjusted or have a corresponding adjustment. In particular, no synchronous adjustment of multiple coupling body is required.
  • the rotor may be synchronized to at least one major component of the shaft (e.g., a major mode of superimposed shafts), thereby temporarily leading or lagging the local flow. This can be achieved by a corresponding adaptation of the first and / or second torque.
  • Such an operation is also encompassed by the term "synchronous", as well as a fluctuation of the phase angle in certain areas, which causes the rotor to experience an acceleration (positive or negative) in the meantime in relation to the wave phase.
  • the speed of a "synchronous" or “substantially synchronous” rotor is therefore approximately equal, i. within certain limits, coincide with the currently prevailing shaft speed. Deviations do not accumulate, but are largely compensated for each other or over time or a certain time window.
  • An essential aspect of energy conversion control may be to maintain synchronicity.
  • Coupling bodies from the class of buoyancy runners are particularly preferably used, which, in particular, generate a buoyancy force directed essentially perpendicular to the flow in the case of an incident flow at a flow angle a in addition to a resistance force in the direction of the local flow.
  • These may, for example, be lift runners with profiles according to the NACA standard (National Advisory Committee for Aeronautics), but the invention is not limited to such profiles. Particularly preferred Eppler profiles can be used.
  • the mentioned first torque can therefore be e.g. be influenced by the angle of attack ⁇ . It is known that with increasing angle of attack a, the resulting forces increase on the lift rotor until a break in the lift coefficient is observed in the so-called stall boundary, where a stall occurs. The resulting forces also increase with increasing flow velocity. This means that the resulting forces and thus the torque acting on the rotor can be influenced via a change in the angle of attack ⁇ and, associated therewith, the angle of incidence ⁇ .
  • the aforementioned second torque also has an effect on the rotational speed v rotor and thus also influences the angle of attack a.
  • the second moment is in the conventional operation of power generation systems, a braking torque that comes about through the interaction of a generator rotor with the associated stator and is converted into electrical energy.
  • a corresponding energy converter in the form of a generator can also be operated by a motor, at least during certain periods of time, so that the second torque can also act on the rotor in the form of an acceleration torque.
  • the generator torque can be adjusted in accordance with the current lift profile setting and the forces / moments resulting therefrom in such a way that the desired rotational speed is set with the correct phase offset to the orbital flow.
  • An influencing of the generator torque can take place, inter alia, by influencing an excitation current through the rotor (in the case of separately excited machines) and / or by controlling the commutation of a power converter connected downstream of the stator. From the forces on the individual coupling bodies, the vectorial superposition finally results in a rotor force which acts as a bearing force directed perpendicular to the rotor axis (also referred to as a reaction force) on the housing of the rotor.
  • an effective force which likewise acts perpendicular to the rotor axis and in the form of a translatory or, in the case of several rotors, as a combination of translatory forces, influences a position of a corresponding wave energy converter and, in the case of a desired or unwanted asymmetry of the bearing force over time can be used specifically to influence the situation.
  • a directed perpendicular to the rotor axis bearing force can be generated, as explained in more detail elsewhere.
  • the rotor is preferably designed as a system floating under the surface of an undulating body of water
  • the explained rotor force acts as a shifting force on the entire rotor and must be supported accordingly if the position of the rotor is not to change.
  • this is achieved, for example, in US 2010/0150716 A1 by providing a plurality of rotors whose forces counteract one another. The displacements compensate each other over one revolution when the attack angle ⁇ and thus the first torque and a constant second torque are assumed by constant contact current conditions at the coupling bodies and the same settings.
  • each coupling body has its own adjusting device, so that the coupling bodies can be adjusted independently of one another.
  • the coupling bodies are adjusted to the locally present flow conditions. This also compensates for depth and width effects.
  • the generator torque is matched to the rotor torque generated by the sum of the coupling bodies.
  • a control device For controlling the wave energy converter, a control device is provided. This utilizes as control variables the adjustable second torque of the at least one rotor and / or the adjustable first torque, for example by adjusting the at least one coupling body.
  • the current local flow field of the shaft can be used. This can be determined with appropriate sensors. These sensors can be arranged co-rotating on parts of the rotor and / or on the housing and / or independently of the machine, preferably this upstream.
  • a local, regional and global detection of a flow field, a wave propagation direction, an orbital flow and the like can be provided, wherein a "local” detection on the conditions directly on a component of a wave energy converter, a "regional” detection on component groups or a Single system and a “global” capture on the entire system or a corresponding plant park can relate.
  • a predictive measurement and prediction of wave states can be made.
  • Measured variables can be, for example, the flow velocity and / or flow direction and / or wave height and / or wavelength and / or period duration and / or wave propagation velocity and / or machine movement and / or holding moments of the coupling body adjustment and / or adjustment moments of the coupling bodies and / or the rotor moment and / or or be moored forces.
  • the currently prevailing inflow conditions on the coupling body can preferably be determined from the measured variables, so that this and / or the second torque can be adjusted accordingly in order to achieve the higher-level control objectives.
  • the entire propagating flow field is known by suitable measurements upstream of the machine or a park of several machines.
  • suitable calculations the following local power generation on the machine can thus be determined, which enables a particularly precise control of the system.
  • a higher-level control of the machine for example, to a main component the incoming wave aligns to implement. This makes a particularly robust machine operation possible.
  • All rotors rotate relative to one or more interconnected housings. These housings can be connected to each other largely rigid or adjustable. The connection of all housings with each other is called frame. Preferably, the distance between rotors with one another (for example, the spacing of the units 1a and 1b in FIG. 5 in the y direction) can be changed by means of an adjusting device, or a rotation of the individual housings and rotors (rotation plane) relative to one another can be achieved.
  • the positions and rotations of the units to each other are summarized in a vector p.
  • the possibly available adjustment parameters of all coupling bodies are then combined in the vector ⁇ . In this case, a coupling body no
  • the braking torque between the rotor i and the housing i is referred to as M i and summarized all the braking torques considered in the vector M.
  • the housing is the stator of a directly driven generator and the rotor base is the rotor of this directly driven generator.
  • other driveline variants are conceivable, which in addition to or instead of a generator, a transmission and / or hydraulic components, such as pumps, contains.
  • the braking torque can only be positive or positive and negative.
  • the braking torque can be additionally or exclusively realized by a suitable brake.
  • the realization of the braking torques for the different rotors may be different.
  • the angle of rotation and the rotational speed of the rotor i are referred to as ⁇ ⁇ or co t and summarized the corresponding sizes for all rotors in the vectors ⁇ and ⁇ .
  • the position of a fixed point (eg center of gravity) of the frame is indicated by (x, y, z) and the rotation of the frame around fixed axes through this point as ( ⁇ , 0 y , ⁇ ⁇ ) (summarized in the vector ⁇ ).
  • the invention includes a specific specification of the braking torque M.
  • the invention also includes a targeted specification of the adjustment parameters ⁇ of the coupling bodies and / or the hydrostatic buoyancy forces F B and / or the frame geometry p and / or the thrust of one or more auxiliary drives.
  • a corresponding program-technically equipped arithmetic unit is expediently present. For further details, reference is made to FIG. 4 and the associated description.
  • the vectors ⁇ , M, F B , p can not be an element (if no actuator for this
  • exactly one element or any number of elements include, depending on the number of total existing adjusting devices and degrees of freedom of the adjustable braking torques, coupling body and adjustable buoyancy forces.
  • the goal of specifying these quantities comprises at least one element from the group, which comprises: maximizing the energy produced by the plant over a specific time interval, ensuring as constant a power as possible (power generation), stabilizing the position r of the frame in space, stabilization the rotation ⁇ of the frame, a targeted shift of the machine, a targeted rotation of the machine, a targeted vibration excitation and a start-up of the machine.
  • the invention enables a particularly economical operation of the system, since conditions are always ensured for the generation of energy.
  • non-ideal flow conditions eg, relatively rapid change in flow conditions within a few minutes
  • the invention also makes it possible to stabilize the rotor axis in space and to stabilize or specifically change the depth of immersion and the associated mooring forces. As a result, the anchoring of the system and possibly existing auxiliary drives can be dimensioned small and cost-effective. Further advantages and embodiments of the invention will become apparent from the description and the accompanying drawings.
  • FIG. 1 shows a preferred embodiment of a wave energy converter according to the invention in a perspective view.
  • Figure 2 shows the wave energy converter of Figure 1 in a side view and illustrates the angle of attack ⁇ and the phase angle ⁇ between the rotor and orbital flow.
  • FIG. 3 shows the resulting angle of incidence a 1 and a 2 and resulting forces on the coupling bodies of the rotor from FIG. 2.
  • FIG. 4 shows a further preferred embodiment of a wave energy converter according to the invention in a perspective view.
  • FIG. 5 shows a plant consisting of three wave energy converters according to FIG. 1 in a perspective view.
  • FIG. 6 shows a general control scheme for controlling a wave energy converter.
  • Figure 7 shows a first control scheme for adjusting a braking torque according to preferred embodiment of the invention.
  • Figure 8 shows a second control scheme for adjusting a braking torque with separate feedforward control and regulation according to a preferred embodiment of the invention.
  • Figure 9 shows a control scheme for adjusting a braking torque and coupling bodies according to a preferred embodiment of the invention.
  • FIG. 10 shows a control scheme of a combined energy conversion and attitude control for adjusting a braking torque, coupling bodies and a buoyancy force according to a preferred embodiment of the invention.
  • FIG. 11 shows a block diagram of the attitude control according to FIG. 10.
  • FIG. 12 shows a block diagram of the energy conversion control according to FIG. 10.
  • FIG. 13 shows a model of the coupling bodies for the energy conversion control according to FIG. 12.
  • FIG. 14 shows a variant of the attitude control according to FIG.
  • FIG. 15 shows a further variant of the attitude control according to FIG.
  • FIG. 1 shows a wave energy converter 1 with a rotor base 2, a housing 7 and four coupling bodies 3 fastened to the rotor base 2 in each case via lever arms 4.
  • the wave energy converter 1 is provided for operation below the water surface of an undulating body of water, for example an ocean.
  • the coupling body 3 are executed in the example shown as buoyancy profiles.
  • the components 2, 3, 4 are components of a rotor 1 1.
  • the position of the housing 7 by the position r (x, y, z) of the
  • the housing 7 is part of a frame 12.
  • the rotor 11 is rotatably mounted relative to the frame 12. It should be noted that, in particular, all of the lever arms 4 are fastened in a rotationally fixed manner to one and the same rotor base 2 in the illustration shown.
  • the frame 12 is rotatably connected to a stator of a directly driven generator, the rotor 1 1 (here the rotor base 2) is rotatably connected to a rotor of this directly driven generator.
  • the coupling body 3 are designed as buoyancy runners and arranged at an angle of 180 ° to each other.
  • the buoyancy runners are supported in the vicinity of their pressure point in order to reduce rotational torques occurring during operation to the buoyancy runners and thus the requirements for the holder and / or the adjusting devices.
  • an adjusting device 5 with at least one degree of freedom is available for each of the coupling bodies 3 (usually likewise as part of the rotor) in order to change the position (eg "pitch angle") of the respective coupling body and thus influence the interaction between fluid and coupling body.
  • the degree of freedom of the adjusting devices is described here by adjusting parameters ⁇ ⁇ to ⁇ 4 .
  • the adjusting devices are preferably electromotive adjusting devices.
  • a sensor 6 is available for detecting the current adjustment.
  • Figure 2 shows a side view of the system at 90 ° twisted lever arms.
  • the adjusting parameters y, and ⁇ 2 (as well as the adjustment parameters ⁇ ⁇ and ⁇ ) in the present example denote the angles of incidence of the coupling bodies 3 to the tangent (represented by an arrow) of the circular path through the suspension point (pivot point) of the coupling bodies.
  • the wave energy converter 1 is surrounded by a flow vector field v.
  • the flow is the orbital flow of eereswellen, the direction of which changes continuously.
  • the rotation of the orbital flow is oriented in the counterclockwise direction, ie the associated wave propagates from right to left.
  • the rotor 2, 3, 4 rotates synchronously with the orbital flow of the wave motion with u> i, whereby the term of synchronicity is to be understood in the manner explained above.
  • O « ⁇ 1 A value or a range of values for an angular velocity ⁇ of the rotor is thus predefined or adapted on the basis of an angular velocity O of the orbital flow. This can be done a constant control or a short-term or short-term adjustment.
  • a variable braking torque acts on the rotor 1 1 between the rotor base 2 and the housing 7 or frame 12. The braking torque can act in a positive direction (counter to the rotational speed ⁇ ) but also in a negative direction (ie driving). ⁇
  • phase angle ⁇ whose amount can be influenced by the setting of the first and / or the second torque.
  • a phase angle of -45 ° to 45 ° appear, preferably from -25 ° to 25 ° and particularly preferably of -15 ° to 15 ° for generating the first torque to be particularly advantageous, since at the orbital flow We v n e and the Flow due to the self-rotation v rotor (see Figure 3) are oriented largely perpendicular to each other, which leads to a maximization of rotor torque.
  • a rotor torque in the counterclockwise direction results from the two buoyancy forces F Aufii and a smaller rotor torque in the opposite direction (ie clockwise) due to the two resistance forces F WidJ .
  • the sum of both rotor torques leads to a rotation of the rotor 1 1, whose speed can be adjusted by the adjustable second torque.
  • the amount of this rotor force can also be changed by changing the angle of attack ⁇ (which changes the angle of attack a) by changing the rotor angular velocity ⁇ and / or Phase angle ⁇ - for example, by changing the generator torque applied as a second torque (whereby v rotor , i changes) and / or are influenced by a combination of these changes.
  • the synchronicity described in the introduction is preferably maintained.
  • the wave energy converter can be moved in any desired radial direction.
  • the illustration in FIG. 3 only includes an orbital flow directed perpendicular to the axis of rotation, which has no flow components in the direction of the plane of the drawing.
  • the rotor flows obliquely, so there is a rotor force, in addition to a directed perpendicular to the rotor axis force component and an axial Force component has. This is due to the fact that the hydrodynamic resistance of a coupling body is directed in the direction of the local flow.
  • FIG. 4 shows a further preferred embodiment which, in addition to FIGS. 1, 2 and 3, additionally provides damping plates 10 for position stabilization, which are connected largely rigidly to the housing 7 of the installation via supports 9.
  • a buoyancy system 8 is provided, which consists of tanks that can be filled with fluid or emptied. In this way, the attacking on the buoyancy bodies 8
  • Buoyancy forces F 1 , F 2 , ... are changed.
  • the buoyancy forces can be changed by pumping fluid between tanks or between tanks and the plant environment.
  • the buoyancy system 8 may also include traveling weights to change the point of application of a weight force and to bring about a similar effect as the change of buoyancy forces.
  • Buoyancy system 8, support 9 and damping plates 10 are components of the frame 12.
  • a mooring may be provided, which is not shown in the figures.
  • FIG. 5 shows an alternative embodiment of an advantageous wave energy converter with a largely horizontal frame extension and a plurality of subsystems 1 a, 1 b, 1 c.
  • FIG. 6 A preferred basic structure of a wave energy converter according to the invention is shown in FIG. 6 in a block diagram.
  • the wave energy converter has a machine 500 acting as a controlled system (for example comprising housing, rotor, energy converter, buoyancy system, etc.).
  • the machine 500 primarily serves to generate electricity and deliver it to a power grid 600.
  • Environmental conditions 510 flows, mooring forces, weight forces, buoyancy forces, etc. act on the machine 500. These are at least partially detected and fed to a block 520 for measurement and signal processing. Block 520 will also
  • Machine sizes e.g., actual position ⁇ of the rotor, r, 9 of the frame, actual position ⁇ of the
  • the block 520 measures and, if appropriate, processes the obtained quantities and outputs results to a control unit 530. This determines one or more control variables (setpoint values ⁇ , ⁇ , ⁇ ⁇ , ⁇ ) as a function of the supplied results and thus loads the machine 500.
  • control variables setpoint values ⁇ , ⁇ , ⁇ ⁇ , ⁇
  • subordinate control loops can be provided in the machine, as described below described.
  • Various sensors measure the positions (in particular adjustment parameters such as pitch angle) of the coupling bodies, the forces ⁇ 1 between the individual coupling bodies and the frame, the position (xyz) and rotation ( ⁇ ⁇ , ⁇ ⁇ , ⁇ 2 ) of the frame. These quantities can be filtered and then forwarded directly to the individual controllers.
  • the first approach relates to the situation where fluid measurement data (e.g., flow vectors, surface data, pressure measurements, etc.) are available but insufficient to control the equipment.
  • fluid measurement data e.g., flow vectors, surface data, pressure measurements, etc.
  • surface elevations could be measured, but for plant control it is important to know the direction of the flow vector at the plant.
  • the direction of the flow vector at the plant is calculated by a model of the fluid.
  • a mathematical function is available that directly calculates the direction of the flow vector from actual surface data.
  • dynamic models given by differential equations can be used, which are calculated by a numerical integration method. These models are used to calculate missing measurement information.
  • the available measurement data is used to continuously correct the models used.
  • the second approach can be used to improve the first approach or even in the event that no fluid measurement data is available.
  • measured data from the plant depth, acceleration, tilt, etc.
  • the second approach is done by using a model of the interaction between the plant and the surrounding flow vector field.
  • Information about the flow vector field can then be calculated using this model and the measurement data from the plant. If, in addition, measurement data relating to the fluid is available, the information about the flow vector field naturally improves.
  • a knowledge of the flow vector field around the plant is helpful for the generation of nominal values, eg to calculate a setpoint for the depth of immersion of the plant. Based on flow data, an estimate of the main wave direction is helpful to generate a setpoint for the orientation ⁇ ⁇ of the plant. Flow information is also helpful for suitable pitching and suitable torque control.
  • ⁇ For every measurable adjustment parameter ⁇ . (Designates a component of the vector ⁇ ) may be provided as part of a subordinate control, a standard control loop (eg Pl controller with anti-windup), in which the variation of a manipulated variable (eg current through an electric motor, volume flow of a hydraulic device) Controlled variable Y t is adjusted according to the default from the block 530.
  • a control For each unmeasured adjustment parameter, a control is provided which operates without feedback from measurements or based on the measurement of other variables.
  • a control loop for each measurable and adjustable braking torque M, may also be provided under a control loop in which via the variation of a manipulated variable (eg rotor current, stator current, circuit diagram of a generator downstream of the power converter) the moment M j is adjusted according to the default from the block 530 , For each non-measured moment, a control is provided which works without feedback from measured values or based on the measurement of other variables.
  • a manipulated variable eg rotor current, stator current, circuit diagram of a generator downstream of the power converter
  • a control loop can also be provided which is subordinated and in which the frame parameter p i is adjusted in accordance with the specification from block 530 via the variation of a manipulated variable (eg fluid flow through a hydraulic valve).
  • a manipulated variable eg fluid flow through a hydraulic valve.
  • a higher-level coordinator 540 which coordinates the system in response to a user request 501, for example, changes an operating mode.
  • the coordinator preferably communicates with all other control systems, has information regarding network utilization and / or accommodates user requests. For example. it can be provided between the operating modes “power generation”, “position change”, “maintenance mode”, “safety mode” (immersion of the system in case of storm), “sleep mode” (feeding power into the mains network is not possible or not desired), “test mode “(for commissioning or troubleshooting) to switch.
  • other modes of operation may be provided.
  • FIGS. 7 to 9 are based on the representation according to FIG. 6. The same elements are provided with the same reference symbols therein.
  • a system with a rotor is assumed in which only an adjustable braking torque M as the second torque, an angle ⁇ and / or a rotational speed ⁇ must be taken into account.
  • Generalization for the multiple-rotor case is easily possible by making the calculations given below separately for each component of M, ⁇ , ⁇ .
  • the angles ⁇ and / or the rotational speeds ⁇ and / or properties of the flow vector field v are measured.
  • a measured variable can also be calculated by means of signal processing from another variable by integration, differentiation or also by means of a filter which can contain a model of the plant.
  • FIG. 7 shows a first preferred embodiment of the invention as a control scheme. As a control variable only the braking torque M is used.
  • the scheme of Figure 8 is similar to that of Figure 7, but block 530 is divided into a control block 531 with feedback (“control block”) and a control block 532 with no feedback (“pre-control block”).
  • Figure 8 is a specific implementation of a particularly advantageous, general two-stage control concept using only the control of the second torque as an example.
  • the first part represents a so-called model-based precontrol.
  • the knowledge of the mathematical model of the plant (see also description to the figures 1 1 to 15) is exploited in such a way that from the knowledge of state data (in particular the excitation, thus the wave, in the form of the angle of attack and the magnitude of the inflow velocity), the second torque to be specified is calculated.
  • state data in particular the excitation, thus the wave, in the form of the angle of attack and the magnitude of the inflow velocity
  • the second torque to be specified is calculated.
  • status data that go beyond the current time can also be included. This is particularly important in multichromatic waves, since sometimes a "driving through" of smaller harmonics can be useful here.
  • condition data can be sensed in various ways, as described in this application. This is a temporal perspective of. Flow conditions at the location of the machine possible. From the data, using the potential theory and thus knowing the current and future flow conditions around the machine and in particular the coupling body, a desired machine behavior and thus the second torque to be specified can be calculated.
  • the second part of the control concept consists of correcting the deviations of the system from the optimal trajectories calculated together with the pre-control. In one embodiment of the control, this may be to regulate the second torque (generator torque) and the first torque (eg via the adjustment parameters of the coupling bodies) such that a desired target is achieved, such as maximizing the absorbed power, high continuity absorbed power, lifetime maximization of loads, overload protection and limitation of absorbed power (Survival in the storm), combinations thereof, given by a consumer performance profiles.
  • a control variable is determined in control block 532.
  • the deviations of the system from the determined target behavior are readjusted by the block 531.
  • M 0 can be adjusted depending on the current sea state, eg increasingly with increasing wave height.
  • a disadvantage of this variant is that with a largely selected M 0 and a short-term change in the sea state, the large braking torque leads to a reduction of ⁇ . In certain plant configurations, this reduction in angular velocity can cause the flow on the coupling bodies to break off and the plant to stall, or more generally, to lose synchrony. Remedy a variant of the control in Figure 7 with the control law
  • the braking torque depends on a constant controller parameter k> 0 (torque acts as a braking torque against the direction of rotation of the rotor, see Figure 2) and the difference of the rotational speed ⁇ on a desired value w ⁇ 5 / 3 ⁇ (0 ⁇ ⁇ ⁇ ⁇ ⁇ designates the system speed, which sets stationary with no braking torque (or with only a small braking torque) If the system slows down due to short-term flow changes under the control law (2), the braking torque M also automatically decreases and the system gets faster again. By this rule law a much more stable rotational movement of the system is achieved. Nevertheless, only the measurement of the system speed is required. The system speed can also be calculated based on other parameters.
  • control law (2) Another advantage of the control law (2) is that the startup of the system is supported from standstill: As long as the system speed ⁇ is less than w, a driving moment acts on the rotor. Under this condition, the system consumes energy, only when ⁇ is greater than w, the operation begins with energy production.
  • control law (2) is possible by extending it by an angle-dependent function ( ⁇ ), so that the control law
  • the function ⁇ ( ⁇ ) is periodic, with particular preference being given to 2 ⁇ or ⁇ -periodic functions (equivalent to 360 ° or 180 ° periodically) for the type of system described here.
  • control law may be used when information regarding the flow vector field is available around the equipment and / or with respect to the fluid surface at and around the equipment position.
  • a setpoint angle for the rotation angle ⁇ can be calculated, in which the orientation of the system relative to the flow vector field results in a maximum propulsion torque.
  • a suitable control algorithm is then applied with the control deviation w Yiinkel - ⁇ and changes this Braking torque so that the control deviation disappears (simple option: PI controller, improved possibility: cascade control from PI controller for the speed and P controller for the angle of rotation) or always moves within a small range (simple option P controller).
  • FIG. 9 shows an extension of the embodiments according to FIG. 7 or 8 for the case of additionally adjustable coupling bodies.
  • a feedforward control 533 is provided for the coupling bodies, which outputs values for the degrees of freedom ⁇ of the coupling bodies as control variables as a function of w and the variables ⁇ , ⁇ . This is preferably done based on a model of the plant which is used to set ⁇ such that the power is the sum of all integrals
  • t 0 -> includes the embodiment that the power is maximum at any time.
  • the degrees of freedom of the coupling bodies and / or the braking torque must be adjusted so that predominant synchronicity of the rotor with the flow vector field is achieved.
  • FIG. 10 shows in a block diagram a modified control block 630 which has a block 631 for the power control, a position control block 632 and a block 633 for combining control variables.
  • the control variables 631 and 632 generated by the two blocks ⁇ ⁇ ⁇ or ⁇ 2, ⁇ 2 are weighted in block 633 and ⁇ in the virtual manipulated variables, M converted.
  • a weighting of the control variables is particularly advantageous since the two sub-controllers 631 and 632 can work against each other in certain situations. For example, a particularly stable position can provide very little power and vice versa. Then the entire control loop can become unstable without weighting.
  • the desired manipulated variables of the attitude control and the energy conversion control in dependence on the operating mode weighted to the actual manipulated variable.
  • the manipulated variable from the power conversion control is mainly used and only a very limited engagement of the attitude control is permitted to avoid the plant moving too far away from its nominal position and orientation.
  • the weighting is carried out adaptively, so that if the system position is changed too much, the position control gets more weight or if the braking torque drops too much, the energy conversion control gains more weight.
  • the position control block 632 additionally generates the virtual manipulated variable (s)
  • the attitude control shown in FIG. 11 comprises two essential parts, a part 710 for the virtual manipulated variables ⁇ 2 , ⁇ 2 acting quickly on the position, and a part 720 for the rather slowly variable forces F B through buoyant bodies.
  • the part 710 includes a set point generation and trajectory planning block 711, a load angle control block 712, a tilt angle control block 713, a shaft orientation control block 714, a control control block 715x an x position, a y-position control block 715y, an immersion depth control block 716, and a control quantity transformation block 717.
  • the part 710 includes a load torque control block 722, a tilt torque control block 723, a buoyancy force control block 724, and a control quantity transformation block 727.
  • the basis of the fast part 710 of the attitude control is that by targeted adjustment of the
  • Coupling body 3 and braking torques M forces in the x-, y- and z-direction as well as moments about all axes on the frame 12 can be exercised. Knowing the current flow conditions, adjustment parameters and coupling body velocities, the actual coupling body parameters and braking torques can be converted into resulting moments M r TM, M r "and resultant forces F, F TM, F z r ".
  • trajectory planning is important in order to predetermine target values for the orientation controller (controlled variable ⁇ ⁇ ) and the position controller (controlled variable here only y) in such a way that a combination of rotations and translatory movements leads to an effective movement in the x-direction
  • the lower, slow portion 720 of the attitude control takes into account the effect that the depth of immersion z, the rotation of the frame 12 about the x-axis (load angle) and the rotation of the frame about the y-axis (tilt angle) can be changed in two different ways .
  • an adjustment of the coupling body and braking torques can be made.
  • these sizes can also have one
  • the regulating variable transformation 727 based on the fact that the resultant of the lift forces F B moments M B and M B can be calculated in the z-direction via equations about the x and y-axis of the frame 12, and the resulting buoyancy force Ff.
  • the controls 722, 723, 724 for the load torque, overturning moment and the dipping force have as variables the variables Mf, Mf or F 2 res , which control the load angle,
  • Mf and F 2 ra are each zero, ie the goal of the lower three controls in Figure 1 1 is to use the adjustment parameters of the coupling body and braking torques ⁇ 2 , ⁇ 2 as little as possible for the attitude control. In this way, there are as many degrees of freedom as possible for optimal energy conversion.
  • the manipulated variable for the lower controllers are the moments
  • the controller 7 2 of the load angle will initially react and impose a moment M f on the system to counteract this change.
  • the load torque control 722 effects a change in the lift forces, so that an additional restoring torque is generated on the system. Due to the rotation of the system by this slowly increasing moment, the control 712 of the load angle slowly reduces its manipulated variable, until finally the necessary moment to compensate for the load jump is completely applied by the buoyancy bodies.
  • a model of the plant can be used that is based on fundamental equations of the technical mechanics and takes into account flow effects, added-mass effects as well as forces due to mooring. Since the dynamics of the adaptive load angle, tilt angle and dip depth controllers are important for the design of these controllers in addition to the system dynamics, the controllers are expediently designed to be adaptive.
  • FIG. 11 A preferred embodiment for the energy conversion control block 631 is shown in FIG.
  • the block shown in FIG. 11 generates the manipulated variables ⁇ ⁇ , ⁇ ⁇ , so that the system generates the desired energy output at the current frame position and the current flow conditions.
  • the controller consists of a component 812 for the adjustment parameters of the coupling body, a component 813 for the braking torques and an adaptation component 814. These components are based on an example shown in Fi gure 13 Model 815, the forces ⁇ ⁇ ⁇ 1 on the coupling body in consequence of the position ⁇ , the speed ⁇ and the adjustment parameter of the coupling body ⁇ and the
  • the specification of the adjustment parameters of the coupling bodies uses this model to determine the adjustment parameters of the coupling bodies at a given position ⁇ and speed ⁇ such that the first torque becomes maximum.
  • the adjustment parameters of the coupling bodies which lead to maximum first torque, are output as ⁇ ⁇ .
  • the optimization problem to be solved is solved numerically or analytically.
  • Adaptation block 814 serves to continuously improve the coupling body model 815 shown in FIG. 13 during plant operation. For this purpose, all inputs and outputs of the model must be known.
  • the quantities ⁇ , ⁇ , ⁇ are available from measurement and signal processing.
  • As adjustment parameter of the coupling body ⁇ the value after the weighting block or a measurement of the adjustment parameters of the coupling body from the subordinate control loops is used.
  • the forces _F to ⁇ are either measured directly via force sensors or indirectly via torque sensors, acceleration sensors or the braking torque acting on the rotor determined.
  • the model 815 of the coupling body of FIG. 13 can be checked for validity and, if necessary, continuously adapted.
  • the adaptation of the system model in FIG. 13 can be further improved by additionally superimposing the adjustment of the first and / or second torque (eg the movement of the adjustment parameters of the coupling bodies .gamma.) With a waveform (eg periodically, sinusoidally) of small amplitude.
  • the generated electrical energy in the period from t 0 to is
  • the manipulated variable M B ' rems is then under a maximization of the integral (7) via M B ' rems under
  • FIGS. 14 and 15 show two alternative embodiments of the attitude control according to FIG. 11.
  • ⁇ 2 are each provided with a manipulated variable restriction. This is the example of the
  • Tilt angle and depth are here controlled only by the buoyancy forces, ie adjustment parameters of the coupling body ⁇ 2 and braking moments M 2 are used only for orientation to the shaft direction and the position in the x and y direction.
  • the orientation control 714 can also be dispensed with.
  • the position control 715x, 715y can also be omitted. This possibly also leads to a loss of weighting.
  • the controls 712, 713 of the load angle and / or tilt angle can be dispensed with if the dynamics of load angle and / or tilt angle angle, for example. Damping plates is sufficiently damped and the desired angular position of the system is sufficiently stable by suitable constant buoyancy forces.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Other Liquid Machine Or Engine Such As Wave Power Use (AREA)

Abstract

L'invention concerne un procédé de fonctionnement d'un convertisseur d'énergie houlomotrice (1) destiné à convertir l'énergie provenant du mouvement ondulatoire d'un fluide en une autre forme d'énergie et comportant au moins un rotor (11) et au moins un convertisseur d'énergie couplé au rotor. Le mouvement ondulatoire génère un premier couple de rotation agissant sur le rotor (11) et le convertisseur d'énergie génère un deuxième couple de rotation (M1) agissant sur le rotor (11), le deuxième couple de rotation (M1) étant prédéfini dans le cadre d'une commande de conversion d'énergie.
EP12717201.3A 2011-06-17 2012-04-24 Procede de fonctionnement d'un convertisseur d'énergie houlomotrice Withdrawn EP2721286A1 (fr)

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DE102011105177A DE102011105177A1 (de) 2011-06-17 2011-06-17 Verfahren zum Betreiben eines Wellenenergiekonverters und Wellenenergiekonverter
PCT/EP2012/001752 WO2012171600A1 (fr) 2011-06-17 2012-04-24 Procede de fonctionnement d'un convertisseur d'énergie houlomotrice

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DE102011105169A1 (de) * 2011-06-17 2012-12-20 Robert Bosch Gmbh Verfahren zum Betreiben eines Wellenenergiekonverters und Wellenenergiekonverter
DE102012012096A1 (de) 2012-06-18 2013-12-19 Robert Bosch Gmbh Verfahren zum Betreiben eines Wellenenergiekonverters zur Umwandlung von Energie aus einer Wellenbewegung eines Fluids in eine andere Energieform
DE102013002127A1 (de) 2013-02-08 2014-08-14 Robert Bosch Gmbh Verfahren zur Bestimmung eines Wellenerhebungs- und/oder Geschwindigkeitspotentialfelds in einem wellenbewegten Gewässer
DE102013007667A1 (de) 2013-05-06 2014-11-06 Robert Bosch Gmbh Ausrichtung eines Wellenenergiekonverters zum umgebenden Gewässer
DE102013009876A1 (de) 2013-06-13 2014-12-18 Robert Bosch Gmbh Bestimmung der Eigengeschwindigkeit einer Geschwindigkeitssensoreinrichtung in einem Gewässer zur Korrektur des Messsignals
DE102013216339A1 (de) * 2013-08-19 2015-02-19 Robert Bosch Gmbh Steuerung der Rotationsgeschwindigkeit einer rotierenden Wellenenergieanlage in Abhängigkeit von der Strömungsgeschwindigkeit
DE102014204249A1 (de) 2014-03-07 2015-09-10 Robert Bosch Gmbh Wellenenergiekonverter mit Energiequelle für Aktuator
DE102014204248A1 (de) 2014-03-07 2015-09-10 Robert Bosch Gmbh Verfahren zum Betreiben einer Wellenenergieanlage und Wellenenergieanlage
EP3243001B1 (fr) * 2015-01-09 2019-07-03 Wello Oy Procédé et système pour ajuster le couple d'une masse et du rotateur d'une roue d'entraînement dans une usine marémotrice
LU102112B1 (en) * 2020-10-13 2022-04-13 Luxembourg Inst Science & Tech List Ocean wave energy harvesting system and process

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US7686583B2 (en) 2006-07-10 2010-03-30 Siegel Aerodynamics, Inc. Cyclical wave energy converter
DE102007056400A1 (de) * 2007-07-02 2009-01-08 Robert Bosch Gmbh Wandler und Verfahren zum Wandeln von mechanischer Energie in elektrische Energie
GB2467011B (en) * 2009-01-20 2011-09-28 Aquamarine Power Ltd Power capture system and method

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