JP2023011205A - Ocean power generating system and attitude control method - Google Patents

Abstract

To provide an ocean power generating system which can control an attitude of an ocean power generator with a simpler structure, and to provide an attitude control method.SOLUTION: An ocean power generating system includes: a power generator which generates power by a turbine rotated by ocean current; a fixed body fixed to a sea bottom; a floating body connected to the fixed body by two or more cables to be moored on the sea; a cable winding device installed at the floating body; and a control device which adjusts lengths of the cables between the winding device and the floating body. The power generator is connected to the respective cables at different connection parts, and the control device adjusts the length of at least one of the cables to control an attitude of the power generator.SELECTED DRAWING: Figure 1

Description

The present invention relates to a marine power generation system and an attitude control method.

Conventionally, a guide rail for position adjustment in the yaw direction and the pitch direction and a slider that moves along the guide rail for position adjustment are provided. There is a marine power generation device that can be controlled (see Patent Document 1, for example).

JP 2014-214601 A

However, when applying the technology of Patent Document 1 to an existing generator unit in operation, there are concerns about demerits in terms of cost, durability, and maintainability. For example, adding a drive mechanism to a generator unit can increase product cost. Further, for example, when the generator unit includes a drive mechanism, inspection and maintenance of the drive mechanism are required, which may increase operating costs. Further, for example, if the generator unit includes a drive mechanism, the durability of the drive mechanism may reduce the reliability of the entire marine power generator. Further, with the technique disclosed in Patent Document 1, even if the rotation in the yaw direction or the pitch direction can be suppressed, there is a possibility that the posture of the generator unit cannot necessarily be maintained in an appropriate posture.

SUMMARY OF THE INVENTION The present invention has been made in consideration of such circumstances, and one of its objects is to provide a marine power generation system and an attitude control method capable of controlling the attitude of a marine power generation device with a simpler configuration. do.

A marine power generation system and an attitude control method according to the present invention employ the following configuration.
(1): A marine power generation system according to one aspect of the present invention includes a generator that generates power by rotating a turbine with an ocean current, a fixed body fixed to the seabed, and two or more cables. a floating body that is connected to and moored on the sea, a winding device for the cable installed on the floating body, and a control device that adjusts the length of the cable between the winding device and the floating body. wherein the generator is connected to each of the plurality of cables with different connections, and the control device adjusts the length of at least one of the plurality of cables to adjust the attitude of the generator. is to control

(2): In the aspect of (1) above, the turbine of the generator is configured such that its rotation axis changes direction along the ocean current, and the generator rotates upstream and downstream of the ocean current, respectively. The cable is connected to the plurality of cables at a plurality of connection portions spaced apart from each other on the front side and the rear side in the ocean current direction.

(3): In the aspect of (2) above, the winding device adjusts the length of the cable connected to a plurality of connecting portions whose positions in the ocean current direction are separated from the front side and the rear side. controls the elevation direction of the generator in the ocean current direction.

(4): In any one of the above aspects (1) to (3), the turbine of the power generator is configured such that its rotation axis changes direction along the ocean current, and the power generator is oriented in the direction of the ocean current. are connected to the plurality of cables at a plurality of connections spaced apart in a longitudinal direction perpendicular to the .

(5): In the above aspect (4), the winding device adjusts the length of the cable connected to a plurality of connection portions separated in the longitudinal direction perpendicular to the direction of the ocean current, thereby adjusting the length of the generator. controls the horizontal orientation of the

(6): In any one of the aspects (1) to (5) above, a plurality of the generators are installed along the plurality of cables.

(7): In any one of the above aspects (1) to (6), the winding device has a function of maintaining the length of at least one target cable among the plurality of cables, and The tension of the target cable is adjusted by changing the length of the cable.

(8): In the aspect of (7) above, the fixed body includes a link portion that connects the plurality of cables, the link portion constitutes a link mechanism with the plurality of cables, and the link mechanism comprises: The tension of the plurality of cables is balanced according to the length adjustment of the target cable by the winding device.

(9): In any one of the above aspects (1) to (8), the floating body is further connected to a second fixed body provided separately from the fixed body by a cable different from the plurality of cables. It is what is done.

(10): An attitude control method according to an aspect of the present invention includes a generator that generates electricity by rotating a turbine with an ocean current, a fixed body fixed to the seabed, and two or more cables that connect the fixed body to the seabed. a floating body that is connected to and moored on the sea, a winding device for the cable installed on the floating body, and a control device that adjusts the length of the cable between the winding device and the floating body. wherein the generator is connected to each of the plurality of cables with different connections, and the control device adjusts the length of at least one of the plurality of cables to the It controls the attitude of the generator.

According to (1) to (10), a generator that generates electricity by rotating a turbine with an ocean current, a fixed body fixed to the seabed, and a plurality of cables of two or more cables that connect to the fixed body A marine power generation system comprising a floating body moored to a floating body, a winding device for the cable installed on the floating body, and a control device for adjusting the length of the cable between the winding device and the floating body , the generator is connected to each of the plurality of cables with different connections, and the control device adjusts the attitude of the generator by adjusting the length of at least one of the plurality of cables. By controlling, the attitude of the marine power generator can be controlled with a simpler configuration.

BRIEF DESCRIPTION OF THE DRAWINGS It is a figure which shows the structural example of the marine power generation system in 1st Embodiment. It is a figure which shows the structural example of a generator. It is a figure which shows the structural example of the control apparatus in 1st Embodiment. It is a figure which shows the example of control of the winding device by a control apparatus. 4 is a sequence chart showing an example of the flow of processing in which the control device controls cable length; It is a figure which shows the structural example of the marine power generation system of 2nd Embodiment. It is a figure which shows the connection example of an ocean current generator and a cable. It is a figure which shows an example of attitude control of an ocean current generator. FIG. 10 is a diagram showing an example of connection of a plurality of second anchors; It is a figure which shows the structural example which connected several ocean current generators in series along the cable.

EMBODIMENT OF THE INVENTION Hereinafter, with reference to drawings, embodiment of the marine power generation system and attitude|position control method of this invention is described.

<First Embodiment>
FIG. 1 is a diagram showing a configuration example of a marine power generation system 1 according to the first embodiment. The marine power generation system 1 includes a floating body 10 , a winding device 20 , a control device 30 , a first cable 40A, a second cable 40B, and an ocean current generator 50 . The first cable 40A and the second cable 40B have one end connected to the winding device 20 and the other end connected to the anchor 60 . In FIG. 1, the reference numerals with "A" indicate the configuration provided corresponding to the first cable 40A, and the reference numerals with "B" indicate the configuration provided corresponding to the second cable 40B. shall be However, in the following description, when the configuration corresponding to the first cable 40A and the configuration corresponding to the second cable 40B are not distinguished, they are indicated by the same reference numerals without adding "A" and "B". Sometimes. For example, when the first cable 40A and the second cable 40B are not distinguished, they may be collectively referred to as the cable 40 in some cases. Anchor 60 is an example of a "fixed body".

The floating body 10 has buoyancy that allows it to float on the surface of the sea with the winding device 20 mounted thereon. The floating body 10 may be in any form such as a buoy, ship, or the like. The floating body 10 is a platform for carrying out work related to ocean current power generation.

The winding device 20 is mounted on the floating body 10 and connected to the anchor 60 by the cable 40 . The winding device 20 winds or unwinds the cable 40 according to instructions from the control device 30 . The winding device 20 includes, for example, a first winding unit 21A and a second winding unit 21B. The first winding unit 21A is connected to the first cable connecting portion 611A of the anchor 60 by the first cable 40A. The second winding unit 21B is connected to the second cable connecting portion 611B of the anchor 60 by the second cable 40B.

For example, the first winding unit 21A includes a drum section 22, a motor 24, and a tension sensor . The drum portion 22 has a cylindrical shape and is rotatably supported around an axis. The drum portion 22 winds or feeds out the first cable 40A by rotating. The wound first cable 40A may be wound around the drum portion 22 or placed on the floating body 10 . The motor 24 rotates the drum section 22 about its axis according to an instruction from the control device 30 . The tension sensor 26 detects, for example, the tension of the first cable 40A between the drum portion 22 and the cable connection portion 611A. In order to avoid complication of the drawing, the detailed configuration of the second winding unit 21B is omitted in FIG. drum unit 22, motor 24, and tension sensor 26.

The control device 30 controls the motor 24 based on the tension value detected by the tension sensor 26 . By rotating the drum portion 22 under the control of the motor 24 and exerting a force on the cable 40, the distance between the cable connecting portion 611 of the anchor 60 and the drum portion 22 is shortened or lengthened. Specifically, when the distance between the drum portion 22 of the first winding unit 21A and the first cable connection portion 611A becomes shorter, the distance between the drum portion 22 of the second winding unit 21B and the second cable connection portion 611B increases. When the distance between the drum portion 22 of the second winding unit 21B and the second cable connecting portion 611B becomes shorter, the drum portion 22 of the first winding unit 21A and the first cable connecting portion 611A becomes shorter. the longer the distance between

The ocean current generator 50 includes, for example, a first generator 52-1, a second generator 52-2, and a housing . The housing 54 has a wing structure that is bilaterally symmetrical in the longitudinal direction (z-axis direction) with respect to the center line C that faces the ocean current direction (y-axis direction).

Each of the first generator 52-1 and the second generator 52-2 has a turbine, a propeller, or the like connected to a rotor, and generates power by rotating the rotor relative to the stator. The ocean current generator 50 is connected to the first cable 40A at the first cable connection portion 51A located on the front side (upstream side in the ocean current direction) of the housing 54, and connected to the first cable connection portion 51A (downstream side in the ocean current direction). side) is connected to the second cable 40B at the second cable connection portion 51B located at a distance. In the first cable connection portion 51A and the second cable connection portion 51B, the housing 54 is rotatable around the cable 40 and is connected to the cable 40 so as not to slide in the axial direction. As a result, the ocean current power generator 50, coupled with the effect of the wing structure of the housing 54, can rotate the first power generator 52-1 and the second power generator 52-2 around the point supported by the cable 40 as an axis. The axis of rotation is oriented in the direction of the ocean current.

For simplicity, FIG. 1 shows one ocean current generator 50 , but the ocean power generation system 1 may be provided with a plurality of ocean current generators 50 . For example, other ocean current generators 50 may be attached in series along the cable 40 above and below the ocean current generator 50 shown in FIG. Hereinafter, when the first generator 52-1 and the second generator 52-2 are not distinguished, they may be collectively referred to as the generator 52.

Anchor 60 is fixed to the seabed and connected to winding device 20 by first cable 40A and second cable 40B. As a result, tension is generated in the first cable 40A and the second cable 40B by the buoyant force of the floating body 10 causing the winding device 20 to float and the force by which the winding device 20 winds up the cable 40. The tension allows the ocean current generator 50 to be moored at a predetermined position in the sea.

The anchor 60 includes, for example, a link portion 61 and a base 63 . The link portion 61 constitutes a link mechanism interlocking with the first cable 40A and the second cable 40B. The link portion 61 includes a first cable connection portion 611A, a second cable connection portion 611B, and a base cable connection portion 612, for example. A first cable 40A is connected to the first cable connection portion 611A. A second cable 40B is connected to the second cable connection portion 611B. The base cable connection portion 612 is a cable connection portion with the base 63 . The link portion 61 is connected to the base 63 so as to be rotatable around an axis (z-axis direction) that is vertical and horizontal to the ocean current direction. By configuring such a link mechanism, the anchor 60 can flexibly control the attitude of the ocean current generator 50 .

Note that the ocean current generator 50 can generate power more efficiently as the degree of coincidence between the direction of the rotating shaft of the generator 52 and the direction of the ocean current is higher. Therefore, the anchor 60 makes it easy for the direction of the rotation axis of the generator 52 to face the direction of the ocean current, so that the first cable connection portion 611A and the second cable connection portion 611B are separated from each other when viewed from directly above (as seen in the x-axis direction). It is preferable to install them so as to line up along the direction of the ocean current.

Further, as shown in FIG. 2, the turbines of the first generator 52-1 and the turbine of the second generator 52-2 may be configured to rotate in opposite directions to each other upon receiving ocean currents. As a result, the rotational force generated by the rotation of the turbine of the first generator 52-1 and the rotational force generated by the rotation of the turbine of the second generator 52-2 cancel each other out, and the direction of the rotation axis of the generator 52 is changed by the ocean current. Makes it easier to turn.

Although not shown in FIG. 1, the marine power generation system 1 may include a configuration for storing or transmitting power generated by the ocean current power generator 50 . For example, the ocean current power generator 50 may include a storage battery that stores generated power, or may be configured to transmit the generated power to the floating body 10 side or the anchor 60 . In this case, a storage battery may be provided on the floating body 10 side or on the anchor 60 .

The marine power generation system 1 configured in this manner adjusts the length of the cable 40 between the winding device 20 and the anchor 60 based on the tension of the cable 40, so that the ocean current generator 50 can be generated with a simpler configuration. posture can be controlled. The configuration of the control device 30 will be described in more detail below.

FIG. 3 is a diagram showing a configuration example of the control device 30. As shown in FIG. The control device 30 includes a communication section 31 , a storage section 32 and a control section 33 . Of these components, the control unit 33 is implemented by a hardware processor such as a CPU (Central Processing Unit) executing a program (software). Some or all of these components are hardware (circuit part; circuitry) or by cooperation of software and hardware. The program may be stored in advance in a storage device (a storage device with a non-transitory storage medium) such as a HDD (Hard Disk Drive) or flash memory, or may be stored in a removable storage such as a DVD or CD-ROM. It may be stored in a medium (non-transitory storage medium) and installed by loading the storage medium into a drive device.

The communication unit 31 is a communication interface that communicates with the winding device 20 . The communication unit 31 receives tension information indicating the tension of the cable 40 from the winding device 20 . The communication unit 31 transmits a control signal for controlling the motor 24 to the winding device 20 .

The storage unit 32 is implemented by the various storage devices described above. Alternatively, the storage unit 32 may be realized by an SSD (Solid State Drive), an EEPROM (Electrically Erasable Programmable Read Only Memory), a ROM (Read Only Memory), a RAM (Random Access Memory), or the like. The storage unit 32 stores, for example, programs executed by the control device 30, setting information, and other various information.

The control section 33 has a function of controlling the winding device 20 . The control section 33 includes, for example, a tension information acquisition section 331 and a motor control section 333 . The tension information acquisition section 331 acquires first tension information and second tension information from the winding device 20 . The first tension information is tension information acquired by the tension sensor 26 provided in the first winding unit 21A, and is information indicating the tension of the first cable 40A. The second tension information is tension information acquired by the tension sensor 26 provided in the second winding unit 21B, and is information indicating the tension of the second cable 40B.

The motor control section 333 transmits a control signal for the motor 24 to the winding device 20 via the communication section 31 . Specifically, the motor control section 333 transmits the first control information and the second control information to the winding device 20 . The first control information is a control signal for controlling the motor 24 included in the first winding unit 21A. The second control information is a control signal for controlling the motor 24 included in the second winding unit 21B. The motor control section 333 generates first control information and second control information based on the first tension information and the second tension information acquired from the winding device 20 .

FIG. 4 is a diagram showing an example of control of the winding device 20 by the control device 30. As shown in FIG. For example, FIG. 4 shows a control example when the ocean current speed increases from below the threshold to above the threshold. The diagram on the left shows a state in which the current velocity is less than the threshold, and the diagram on the right shows a situation in which the current velocity is above the threshold. For example, in this case, the motor control unit 333 determines whether the ocean current velocity is equal to or greater than the threshold based on the first tension information and the second tension information. Specifically, the motor control unit 333 compares the tension of the first cable 40A and the second cable 40B indicated by the first tension information and the second tension information with the tension threshold set based on the ocean current velocity threshold. By doing so, it is determined whether or not the ocean current velocity is equal to or greater than the threshold.

For example, the motor control unit 333 may determine that the ocean current velocity is equal to or higher than the threshold when the tension of at least one of the tensions of the first cable 40A and the second cable 40B is equal to or higher than the tension threshold. When the ocean current velocity is equal to or higher than the threshold, the motor control unit 333 controls the winding of the first cable 40A to shorten the length of the cable 40 between the first winding unit 21A and the first cable connection part 611A. In addition to instructing winding, a control signal is generated and instructed to let out the second cable 40B in order to lengthen the length of the cable 40 between the second winding unit 21B and the second cable connection portion 611B. Send to device 20 . It should be noted that the winding amount and the unwinding amount of the cable 40 are determined in advance according to the size of the angle α that determines the target posture of the ocean current generator 50 , and the motor control unit 333 controls the winding amount of each motor 24 . It is assumed that the control information including the take-up amount or feed-out amount is instructed to the winding device 20 .

As a result, the angle α formed by the rotating shaft of the generator 52 and the direction of the ocean current is increased, so that it is possible to suppress an excessive load on the generator 52 due to an increase in ocean current velocity. As a result, the durability of the power generator 52 can be improved, variations in the power generation amount can be suppressed, and the ocean current power generator 50 can be operated stably. A plurality of tension thresholds may be provided according to the ocean current velocity, or may be determined by a function having the ocean current velocity as a variable.

On the other hand, when the tension of both the first cable 40A and the second cable 40B becomes less than the tension threshold after the winding of the first cable 40A and the unreeling of the second cable 40B, the motor control unit 333 Alternatively, it may be configured to generate a control signal instructing the unwinding of the first cable 40A and the winding of the second cable 40B and transmit it to the winding device 20 . As a result, the angle α formed by the rotating shaft of the generator 52 and the direction of the ocean current becomes small, so that it is possible to suppress excessive decrease in the amount of power generated by the generator 52 due to a decrease in the ocean current velocity. can.

FIG. 5 is a sequence chart showing an example of the flow of processing in which the control device 30 controls the length of the cable 40. As shown in FIG. First, the winding device 20 measures the tension of the first cable 40A and the second cable 40B by the tension sensor 26 of each winding unit 21 (step S101), and first tension information and second tension information indicating the respective measurement results are obtained. Information is transmitted to the control device 30 (step S102).

Subsequently, in the control device 30, the tension information acquisition section 331 acquires the first tension information and the second tension information transmitted by the winding device 20 via the communication section 31 (step S103). Next, the motor control unit 333 determines the winding amount or the feeding amount of each cable 40 based on the tension of the first cable 40A indicated by the first tension information and the tension of the second cable 40B indicated by the second tension information. is determined (step S104).

Next, the motor control unit 333 generates the first control information and the second control information that instruct winding or unwinding of the determined amount of cable (step S105). The motor control unit 333 transmits the generated first control information and second control information to the winding device 20 via the communication unit 31 (step S106).

Subsequently, the winding device 20 controls the motor 24 of the first winding unit 21A and the motor 24 of the second winding unit 21B based on the control information received from the control device 30 (step S107).

In the marine power generation system 1 of the first embodiment configured in this way, the length of the first cable 40A between the first winding unit 21A and the first cable connection portion 611A of the anchor 60 and the length of the second winding By adjusting the length of the second cable 40B between the take-up unit 21B and the second cable connection portion 611B of the anchor 60 based on the tension of the first cable 40A and the second cable 40B, ocean current power generation in the ocean current direction is achieved. It is possible to control the elevation angle direction (angle α) of the aircraft 50 and the attitude of the marine power generator with a simple configuration.

In the above embodiment, the case where the first cable 40A and the second cable 40B are composed of two cables has been described. good. For example, in this case, both ends of one cable may be connected to the first winding unit 21A and the second winding unit 21B, respectively, and the cable may be folded back at the anchor 60 .

<Second embodiment>
FIG. 6 is a diagram showing a configuration example of the marine power generation system 1 of the second embodiment. FIG. 6 is a top view of the floating body 10, the winding device 20, and the anchor 60 in the vertical direction. The coordinate axes in the figure are the same as in FIG. In the marine power generation system 1 of the second embodiment, the control device 30 controls the horizontal direction (z-axis direction in the figure) in addition to the elevation direction of the ocean current generator 50 by winding or unwinding the cable 40. and that the floating body 10 is connected to the second anchor 70 in addition to the first anchor 60, unlike the marine power generation system 1 of the first embodiment. Anchor 70 is an example of a "second fixed body".

FIG. 7 is a diagram showing a connection example between the ocean current generator 50 and the cable 40 in the second embodiment. In the example of FIG. 7, the ocean current generator 50 includes a first cable connection portion 51C and a second cable connection portion 51D arranged in the z-axis direction, and a cable connection portion 51C and a second cable connection portion 51D behind the first cable connection portion 51C and the second cable connection portion 51D in the ocean current direction. It is connected to the cable 40 at the third cable connection portion 51E located at . The ocean current generator 50 is connected to the first cable 40C at the first cable connection portion 51C, connected to the second cable 40D at the second cable connection portion 51D, and connected to the third cable 40E at the third cable connection portion 51E. be.

Returning to the description of FIG. The winding device 20 according to the second embodiment is configured such that the winding and unwinding of the first cable 40C, the second cable 40D and the third cable 40E can be individually controlled by the corresponding winding units 21. . The winding device 20 includes, for example, a first winding unit 21C, a second winding unit 21D, and a third winding unit 21E. A first winding unit 21C, a second winding unit 21D, and a third winding unit 21E are winding units 21 corresponding to the first cable 40C, the second cable 40D, and the third cable 40E, respectively. Each winding unit 21 is the same as the winding unit 21 in the first embodiment (see FIG. 1).

In the anchor 60 of the second embodiment, the link portion 61 has a first cable connection portion 611C, a second cable connection portion 611D and a third cable connection portion 611E as connection portions with the cables 40 . The link portion 61 is connected to the first cable 40C at the first cable connection portion 611C, to the second cable 40D at the second cable connection portion 611D, and to the third cable 40E at the third cable connection portion 611E. . In addition, in the link portion 61 of the second embodiment, the base cable connection portion 612 is configured by, for example, a joint mechanism that can be driven in all directions, and connects the first cable 40C, the second cable 40D, and the third cable 40E. It is configured to be able to rotate following tension in any direction caused by winding and unwinding, or a combination thereof.

Furthermore, in the marine power generation system 1 of the second embodiment, the floating body 10 is connected to two anchors, an anchor 60 and an anchor 70, in order to make the attitude control of the ocean current generator 50 easier. Since the movement range of the floating body 10 is restricted by being connected to the two anchors, it is possible to suppress the disturbance of the attitude of the ocean current generator 50 due to the movement of the floating body 10 . In addition, by stabilizing the attitude of the ocean current generator 50, it is possible to prevent the direction of the rotating shaft of the generator 52 from deviating greatly from the direction of the ocean current, and it is possible to prevent the power generation efficiency of the generator 52 from decreasing. can.

In the control device 30 in the second embodiment, the tension information acquisition unit 331 acquires the first tension information, the second tension information, and the third tension information, and the motor control unit 333 acquires the first tension information, the second tension information, and the second tension information. It differs from the control device 30 in the first embodiment in that it controls the motors 24 of the first winding unit 21C, the second winding unit 21D, and the third winding unit 21E based on the tension information and the third tension information. Although different, the functional configuration is similar to that of the first embodiment (see FIG. 3).

The first tension information is tension information indicating the tension of the first cable 40C. The second tension information is tension information indicating the tension of the second cable 40D. The third tension information is tension information indicating the tension of the third cable 40E.

The motor control unit 333 adjusts the length of at least one of the first cable 40C, the second cable 40D and the third cable 40E based on the first tension information, the second tension information and the third tension information. By doing so, the attitude of the ocean current generator 50 is controlled. Specifically, the motor control unit 333 determines at least one cable 40 from among the first cable 40C, the second cable 40D, and the third cable 40E as the target cable, and maintains the length of the target cable. While maintaining the tension, the tension of the target cable is adjusted by changing the length of the cables 40 other than the target cable. As a result, the ocean current generator 50 can be easily rotated about the target cable, and the orientation in the horizontal direction can be changed.

It is assumed that the winding unit 21 of the second embodiment has a mechanism for maintaining the length of the cable 40 in order to perform such control. For example, the winding unit 21 may be configured to maintain the length of the cable 40 by maintaining a rotational force that balances the tension in the cable 40 in the winding direction, or to maintain the length of the cable 40 by a braking device such as an electromagnet. may be configured to maintain the length of

FIG. 8 is a diagram showing an example of attitude control of the ocean current generator 50. As shown in FIG. Here, in order to show an example of attitude control in the horizontal direction, it is assumed that the ocean current direction has only horizontal components. The first state is an ideal state in which the direction of the cable 40 and the direction of the ocean current match. In the first state, the rotating shaft of the generator 52 is parallel to the ocean current direction, so the power generation efficiency is good. In this case, due to symmetry, equal tension acts on the first cable 40C and the second cable 40D.

The second state is a state in which the sea current direction of the first state is slightly changed in the -z-axis direction. In the second state, the pressure that the ocean current pushes away in the -z-axis direction and the force that the anchors 60 and 70 pull the floating body 10 against this pressure act on the floating body 10, and the anchors are arranged so as to balance these forces. The link 61 of 60 is activated. In this case, unlike the first state, there is no symmetry, so different tensions act on the first cable 40C and the second cable 40D. The example of FIG. 8 represents a state in which a tension greater than the tension of the first cable 40C is acting on the second cable 40D.

In this case, the motor control unit 333 determines, based on the first tension information and the second tension information, that a tension greater than the tension of the first cable 40C is acting on the second cable 40D. It generates and transmits to the winding device 20 control information instructing to let out the second cable 40D so as to maintain the length of the first cable 40C and reduce the tension of the second cable 40D.

In the third state, the winding device 20 controls the first winding unit 21C and the second winding unit 21D based on the control information received from the control device 30, so that the rotating shaft of the generator 52 is moved by the ocean current. It represents a state in which the ocean current generator 50 has changed its direction in the direction of the arrow so as to face the direction. In this case, for example, the motor control unit 333 may generate control information based on the winding amount and the feeding amount predetermined according to the magnitude of the tension of the first cable 40C or the second cable 40D. Further, for example, the motor control unit 333, after letting out the second cable 40D so as to eliminate the tension of the second cable 40D, gradually winds up the second cable 40D so as to balance the tension of the first cable 40C. may be configured.

In the example of FIG. 8, the case where the length of the cable 40 with the smaller tension is maintained and the cable 40 with the larger tension is fed out has been described. , and control each motor 24 to pay out the cable 40 with the lower tension.

Also, in the example of FIG. 8, the case where the floating body 10 is connected to two anchors, the first anchor 60 and the second anchor 70, is described, but the number of second anchors connected to the floating body 10 is two or more. There may be. For example, FIG. 9 is a diagram showing an example in which anchors 70-1 and 70-2 are connected to the floating body 10 as second anchors. Even in such a case, the motor control section 333 can control the attitude of the ocean current generator 50 in the same manner as when one second anchor is provided.

Moreover, like the marine power generation system 1 of the first embodiment, a plurality of ocean current generators 50 may be provided in the marine power generation system 1 of the second embodiment as well. FIG. 10 is a diagram showing a configuration example in which a plurality of ocean current generators 50 are connected in series along the cable 40 in the marine power generation system 1 of the second embodiment. Even in such a case, the motor control unit 333 can simultaneously control the attitudes of the plurality of ocean current generators 50 by the same method as when one ocean current generator 50 is provided.

The marine power generation system 1 of the second embodiment configured as described above maintains the tension of at least one cable 40 and loosens the tension of the other cables 40 according to changes in the direction of the ocean current, thereby generating ocean current power. By weakening the restraining force on the horizontal direction of the generator 50, the attitude of the ocean current generator 50 can be controlled so that it faces the direction of the ocean current.

As described above, the mode for carrying out the present invention has been described using the embodiments, but the present invention is not limited to such embodiments at all, and various modifications and replacements can be made without departing from the scope of the present invention. can be added.

DESCRIPTION OF SYMBOLS 1... Marine power generation system 10... Floating body 20... Winding device 21... Winding unit 22... Drum part 24... Motor 26... Tension sensor 30... Control device 31... Communication part 32... Storage part , 33... control unit, 331... tension information acquisition unit, 333... motor control unit, 40... cable, 50... ocean current generator, 51... cable connection unit, 52... generator, 54... housing, 60... anchor, 61 ... link portion 611 ... cable connection portion 612 ... base connection portion 63 ... base 70 ... anchor

Claims (10)

a generator that generates electricity by rotating a turbine with ocean currents;
a fixed body fixed to the seabed;
a floating body that is moored on the sea by being connected to the fixed body by two or more cables;
a winding device for the cable installed on the floating body;
a control device that adjusts the length of the cable between the winding device and the floating body;
with
The generator is connected to each of the plurality of cables with a different connection,
The control device controls the attitude of the generator by adjusting the length of at least one of the plurality of cables.
Marine power system. the turbine of the generator is configured such that its axis of rotation turns along an ocean current;
The generator is connected to the plurality of cables at a plurality of connection portions separated from each other in the direction of the ocean current, when the upstream side and the downstream side of the ocean current are the front side and the rear side, respectively.
The marine power generation system according to claim 1. The winding device adjusts the length of a cable connected to a plurality of connecting portions whose positions in the direction of the ocean current are separated from the front side and the rear side, thereby controlling the elevation angle direction of the generator in the direction of the ocean current. control the orientation,
The marine power generation system according to claim 2. the turbine of the generator is configured such that its axis of rotation turns along an ocean current;
the generator is connected to the plurality of cables at a plurality of connections spaced apart in a longitudinal direction perpendicular to the current direction;
The marine power generation system according to any one of claims 1 to 3. The winding device controls the horizontal orientation of the generator by adjusting the length of the cable connected to a plurality of connecting portions spaced apart in the longitudinal direction perpendicular to the ocean current direction.
The marine power generation system according to claim 4. A plurality of the generators are installed along the plurality of cables,
The marine power generation system according to any one of claims 1 to 5. The winding device has a function of maintaining the length of at least one target cable among the plurality of cables, and adjusts the tension of the target cable by changing the length of the target cable.
The marine power generation system according to any one of claims 1 to 6. The fixed body includes a link portion that connects the plurality of cables,
The link portion constitutes a link mechanism together with the plurality of cables, and the link mechanism operates so that the tension of the plurality of cables is balanced according to the length adjustment of the target cable by the winding device.
The marine power generation system according to claim 7. The floating body is further connected to a second fixed body provided separately from the fixed body by a cable different from the plurality of cables,
The marine power generation system according to any one of claims 1-8. A generator that generates electricity by rotating a turbine with an ocean current, a fixed body fixed to the seabed, a floating body that is connected to the fixed body by two or more cables and is moored on the sea, and installed on the floating body and a control device that adjusts the length of the cable between the winding device and the floating body,
connecting the generator to each of the plurality of cables with different connections;
wherein the controller controls the attitude of the generator by adjusting the length of at least one of the plurality of cables;
Attitude control method.

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