Suspending hammer floating type wind-wave combined generator set and cooperative control method

Abstract

The invention belongs to the ocean wave energy power generation technology, and particularly discloses a suspended hammer floating type wind-wave combined generator set and a cooperative control method.The combined generator set comprises a semi-submersible floating type platform, a wind power generation device is arranged on the upper portion of the semi-submersible floating type platform, and the semi-submersible floating type platform is anchored by three anchor chains; three power generation sleeves are hinged to the interior of the semi-submersible floating type platform, the lower end of each power generation sleeve is correspondingly installed at the upper end of a variable-length damping inclined supporting rod, the lower end of each damping inclined supporting rod is hinged to a suspension hammer through a universal joint, and the power generation sleeves, the damping inclined supporting rods and the suspension hammer jointly form an inverted-triangular-pyramid-shaped wave energy power generation device. The wind power generation device and the wave power generation device are both controlled by the control system. Through the action of the lower suspension hammer wave energy device, the action of flexibly adjusting the motion response of the upper semi-submersible floating platform and the lower suspension hammer wave energy device is achieved, and the motion response and the borne load of the floating wind generating set are effectively improved.

Description

Technical Field

[0001] The present invention relates to a technology for generating electricity from ocean wave energy, in particular to a pendulum floating wind-wave combined power generation unit and a cooperative control method. Background Art

[0002] The response and motion control of offshore wind turbines under complex sea conditions have also attracted more and more attention from relevant researchers. Inspired by the vibration control of traditional onshore buildings, in recent years, the application of related derivative concepts of Tuned Mass Damper (TMD) in floating offshore wind turbines has come into the view of researchers. Generally, researchers reduce the motion response of the structure by installing TMD in the nacelle, tower or lower platform of the floating offshore wind turbine to ensure the safety and stability of the unit during actual operation.

[0003] However, traditional TMD can generally only adjust the motion response of offshore wind turbines in two-dimensional directions. To adjust each degree of freedom of offshore wind turbines, multiple two-dimensional impact TMD need to be installed, which increases the cost. Therefore, in recent years, attempts to introduce three-dimensional TMD in floating offshore wind turbines have emerged. However, due to the narrow internal space of floating offshore wind turbines, it will inevitably have a greater impact on the adjustment range and effect of three-dimensional TMD. Coupled with the fact that the research on external TMD of buildings such as bridges has become mature in recent years. Therefore, the idea of installing TMD outside the floating structure has begun to come into the view of professionals in related fields in recent years.

[0004] Chinese Patent Application CN112855449A discloses a semi-submersible offshore wind and wave energy combined power generation device, comprising: a semi-submersible platform system floating on the sea surface; a wind power generation system and a plurality of oscillating buoy power generation systems installed on the semi-submersible platform system; and a power transmission system for collecting, storing or transmitting the power generated by the wind power generation system and the oscillating buoy power generation system; the semi-submersible platform system comprises: a semi-submersible platform with a wind power generation system installed on the upper surface and an oscillating buoy power generation system installed on the outer side; and a plurality of catenary lines respectively connecting the seabed and the corners of the semi-submersible platform. In terms of the structural form, this patent integrates the wave energy device on the side of the floating wind power generation platform, with poor stability and difficulty in resisting larger overturning moments. In this patent, the buoy only serves as a passive power generation unit without a platform motion control function. Resisting extreme sea conditions relies on increasing ballast water or submerging the buoy, with a slow response speed and irreversibility. When encountering extreme sea conditions, the platform's pitch and roll cannot be suppressed, and the risk of shutdown is high. This patent changes the draft by the buoy's water inlet and outlet valves to match the wave period. The mechanical valves have a lagging response and cannot track the instantaneous changes of the wave period, and the water inlet and drainage processes consume additional energy. The hydraulic control system has a slow response, which may cause a lag effect; electromagnetic regulation can achieve a millisecond-level response and can match and adjust the operation of the system in real time.

[0005] Chinese Patent Application CN114645817A discloses a multi-degree-of-freedom wave energy buoy and semi-submersible floating wind turbine coupled power generation system and method. The power generation system includes a semi-submersible platform. A wind power generation mechanism is installed at the center of the upper part of the semi-submersible platform, and multi-degree-of-freedom wave energy buoys are installed on the semi-submersible platform outside the wind power generation mechanism. Both the wind power generation mechanism and the multi-degree-of-freedom wave energy buoys are controlled by a central control system. During power generation, the central control system monitors the quality of the electric energy generated by the wind turbine in real time, compares it with the rated parameters of the device, automatically converts the difference into the control parameters of the wave energy power generation device, and adjusts the power generation behavior of the wave energy power generation device to achieve the effect of complementary power output between the wave energy power generation device and the wind turbine. This patent integrates the wave energy device on the side of the floating wind power generation platform, with poor stability and difficulty in resisting larger overturning moments. The wave energy device of this patent has a total of three wave energy buoys, and each buoy is connected to three hydraulic cylinders. The structural form is complex, and the movement stroke of each buoy is small, resulting in a limited range of motion control for the overall platform. The wave energy buoy of this patent can only achieve heaving + pitching double-degree-of-freedom motion, and the movement trajectory is restricted by sliders and guide rails, unable to achieve multi-degree-of-freedom response, which affects the power generation efficiency. Its buoy is installed in the enclosed space between the platform legs. Blocked by the platform structure, the legs and cross braces block the incident waves, resulting in wave height attenuation at the position of the buoy, and only the residual wave energy in the platform shadow area can be captured, unable to utilize the complete wave energy in the open water area. The wave energy device is converted through hydraulic transmission, with low conversion efficiency at each stage, long hydraulic pipelines, high risk of hydraulic oil leakage, and slow response of the hydraulic control system, which may cause a lag effect; electromagnetic regulation can achieve millisecond-level response and can match and adjust the operation of the system in real time.

[0006] Chinese Patent Application CN117561198A discloses an anchoring system and a method for installing a floating platform using the anchoring system, which uses anchor lines attached to the seabed to eliminate the pitching and rolling motions of the floating platform. The anchor lines are supported by multiple pulleys or rotating fixing devices of the floating platform and are all connected to a common counterweight suspended on the floating platform. Each anchor line includes a direct sub-line and a cross sub-line, and these sub-lines keep the counterweight always positioned corresponding to the central axis of the floating platform. The anchor chain of this patent is connected to the central counterweight, and the central counterweight acts on the floating platform through pulleys. The anchor chain does not directly control the floating platform. In the case of insufficient cable force application or partial breakage and failure, it is extremely easy to lose the control of the counterweight on the platform or cause a significant attenuation of its function. This patent can only suppress the pitching (pitch, longitudinal roll) and rolling (roll, transverse roll) motions of the floating platform. The counterweight system in it cancels out the platform motion through cable tension. During this process, energy is absorbed by the mechanical structure and dissipated through internal energy consumption, and is not utilized. In some cases of this patent, a central well needs to be reserved inside the platform, and the counterweight cables are passed through it, which increases the complexity of the platform to a certain extent. By virtue of the need to conduct additional research on the impact of the platform in the presence of the central well, the design and use costs and complexity are increased.

[0007] Chinese Patent Application CN118148837A discloses a floating wave energy-wind energy integrated power generation system. The integrated power generation system includes a floating wind energy power generation device and a wave energy power generation device sharing a semi-submersible platform. The semi-submersible platform can serve as both a floating foundation for the floating wind energy power generation device and a float for the wave energy power generation device. The semi-submersible platform includes a central column and three main pontoons. The main pontoons are distributed at the three vertices of an equilateral triangle, with an included angle of 60° between each other. The central column is arranged at the center of the equilateral triangle. The central column and the main pontoons are connected by cross braces and diagonal braces. The floating wind energy power generation device is composed of a wind turbine, a tower barrel, and a semi-submersible platform. The wind turbine is installed at the top of the tower barrel, and the bottom end of the tower barrel is fixed on the central column of the semi-submersible platform. A limiting block is installed on the upper half of the vertical guide pile of this patent, so that the relative displacement between the heaving plate and the semi-submersible platform is limited within a certain range, and the energy capture width of the wave energy device is small. This patent uses a hydraulic system to convert wave energy, with a long conversion link, low efficiency, and a risk of hydraulic oil leakage. To achieve the function of suppressing pitching, this patent must close the throttle valve and cut off the wave energy power generation, and this part of the energy is dissipated. Summary of the Invention

[0008] The object of the present invention is to overcome the deficiencies of the above-mentioned prior art and provide a pendulum floating wind-wave combined power generation unit and a coordinated control method, which can not only reduce the motion response of the floating wind power generation unit, increase the stability under normal sea conditions and the survivability under extreme sea conditions, but also improve the utilization rate of wave energy.

[0009] To achieve the above object, the present invention adopts the following technical solutions: A pendulum floating wind-wave combined power generation unit includes a semi-submersible floating platform. A wind power generation device is arranged on the upper part of the semi-submersible floating platform. The semi-submersible floating platform is moored by three groups of anchor chains. Three power generation sleeves are hinged inside the semi-submersible floating platform. The lower end of each power generation sleeve is respectively installed at the upper end of a variable-length damping diagonal strut. The lower end of the damping diagonal strut is hinged to a pendulum through a universal joint. The power generation sleeve, the damping diagonal strut and the pendulum jointly form an inverted triangular pyramid-shaped wave energy power generation device. Both the wind power generation device and the wave energy power generation device are controlled by a control system.

[0010] The semi-submersible floating platform is a regular prism shape, and the upper and lower surfaces of the triangular prism are connected by upper and lower layers of cross braces. The upper and lower surfaces are connected by columns. The lower cross braces and the columns provide buoyancy, and an anchor chain is connected to each column.

[0011] The upper end of the power generation sleeve is correspondingly hinged to the upper cross brace.

[0012] A hysteresis coil is arranged on the inner cavity wall of the power generation sleeve.

[0013] The damping diagonal strut is located inside the regular prism-shaped semi-submersible floating platform and does not contact the semi-submersible floating platform.

[0014] An aluminum-iron-boron mover capable of extending into the inner cavity of the power generation sleeve is arranged on the outer edge of the upper end of the damping diagonal strut. The power generation sleeve and the aluminum-iron-boron mover form a linear motor. The top of the damping diagonal strut is connected to the power generation sleeve by a spring. Both ends of the spring are provided with connection bases. The lower end of the base is fixed on the upper edge of the aluminum-iron-boron mover at the top of the power generation sleeve, and the upper end of the base contacts the inside of the sleeve. The relative movement between the power generation sleeve and the diagonal strut is restricted by the damping of the spring to prevent collision between the upper end of the diagonal strut and the power generation sleeve.

[0015] The diagonal strut and the pendulum below the linear motor are located below the water surface, which can avoid the water surface slamming of the moving parts.

[0016] The coordinated control method of the pendulum floating wind-wave combined power generation unit includes: The PTO force generated between the power generation sleeve and the diagonal brace due to hysteresis acts on the upper cross brace of the semi-submersible floating platform through the hinge. By controlling the strategy to change the magnetic induction line intensity of the mover magnet, the magnitude of the PTO force can be changed, thereby achieving torque control of the semi-submersible floating platform and changing the motion response of the platform; When the wind power generation device receives wind loads and wave loads, the wind turbine of the wind power generation device converts the mechanical energy of the blade flapping into electrical energy; each pendulum-stabilized and energy-harvesting wave power generation device enters the working state. The pendulum is simultaneously subjected to wave loads and dynamic loads conducted by the semi-submersible floating platform, showing motion different from the previous moment in the time history. In this relative motion of the pendulum with respect to the platform, the relative motion of the AlNiCo mover at the top of the power generation sleeve and the diagonal brace in the axial direction is absorbed and converted, and this part of the mechanical energy is converted into electrical energy and transmitted to the semi-submersible floating platform for voltage stabilization and unified distribution before utilization; The power generation sleeves connected to the semi-submersible floating platform are all equipped with positioning devices, which can read the distance between themselves and the platform's center of gravity axis in real time L 1 、L 2 、L 3 , and through the calculation and analysis of the control system, the torque of the PTO force output by the three PTO systems on the platform is analyzed, so as to control the blade flapping plane of the wind turbine generator set to always be within the optimal energy-harvesting interval facing the wind direction.

[0017] The control strategy is determined by the method of torque calculation in the control system, and the specific formula is as follows: , Among them, M p represents the torque exerted on the platform by the PTO system composed of the three power generation sleeves and the diagonal brace; F p1 、F p2 、 F p3 respectively represent the magnitudes of the PTO forces of each PTO system; θ 1 、 θ 2 、 θ 3 respectively represent the angles between the connecting lines of the PTO application points and the platform's center of gravity axis parallel to the wind direction tangent plane; η represents the angle between the flapping blade of the wind turbine generator set facing the wind direction; M represents the resultant torque received by the system; M wind， M wave respectively represent the torques caused by the wind and waves on the overall floating platform; Mi Indicates various moments exerted by factors affecting the system other than wind and waves.

[0018] The semi-submersible floating platform is based on a semi-submersible structure, suitable for a wide range of water depths. The combination of the hanging weight and the diagonal bracing rods forms an underwater inverted triangular pyramid geometric space. The upper layer captures wind energy, and the lower layer absorbs wave energy. The layout is reasonable and the structure is compact.

[0019] In view of the current research status of floating wind-wave combined power generation units, the present invention proposes a hanging weight floating wind-wave combined power generation unit, which can not only reduce the motion response of the floating wind power generation unit, increase the stability under normal sea conditions and the survivability under extreme sea conditions, but also improve the utilization rate of wave energy.

[0020] In the present invention, under the reasonable action of the PTO force, when the unit operates and generates electricity under normal wind conditions, the motion response of the platform can be adjusted, so that the stability of the device is improved, so that the flapping blades of the wind power generation unit are always within the optimal energy capture interval facing the wind direction, and then the platform can always be maintained in a good working state, so that the wind power generator can always be maintained in a high-efficiency working interval, improving the power generation efficiency of the wind power generator and increasing the capture amount of wind energy.

[0021] In the present invention, under the reasonable action of the PTO force, when the unit needs to stop and self-protect under severe wind conditions, the energy absorption intensity of the hanging weight energy capture system can be increased, and the motion amplitude of the platform under the action of wind and waves can be reduced, so that the whole system is always kept within the threshold of the safe load, preventing the device from being damaged and avoiding economic losses caused by structural failure.

[0022] In the present invention, under the reasonable action of the PTO force, when the unit encounters severe wave conditions, the motion amplitude of the platform can also be adjusted by increasing the energy absorption intensity of the hanging weight energy capture system, so that the energy capture amount of the hanging weight wave energy device is increased; at the same time, the motion amplitude of the floating offshore wind power generation platform can be reduced, so as to ensure the stable energy capture of the platform.

[0023] In short, through the action of the lower hanging weight wave energy device, the present invention can play a role in flexibly adjusting the motion response of the upper semi-submersible floating platform and the lower hanging weight wave energy device, effectively improving the motion response and the load received by the floating wind power generation unit, taking into account the safety and energy capture of the unit, and playing a role of convenient maintenance, low cost, increased energy capture, ensuring safety, and stable and efficient operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 Shows the overall structural schematic diagram of the present invention; Figure 2 Shows the schematic diagram of the universal joint hinge structure of the lower hanging weight and the diagonal bracing rods; Figure 3Shows a schematic diagram of the NdFeB mover at the top of the diagonal strut; Figure 4 Shows a schematic diagram of the hysteresis coil inside the power generation sleeve; Figure 5 Shows a schematic diagram of the spring connecting the top of the diagonal strut and the power generation sleeve; Figure 6 Shows a schematic diagram of the gimbal hinge structure between the upper end of the power generation sleeve and the semi-submersible floating platform.

[0025] Among them, 101 - wind power generation device, 102 - tower barrel, 103 - cross brace, 104 - gimbal connecting the platform and the power generation sleeve, 105 - semi-submersible floating platform, 106 - anchor chain, 200 - plumb bob, 201 - upper end of the first gimbal, 202 - first cross shaft, 203 - lower end of the first gimbal, 301 - NdFeB mover, 302 - diagonal strut, 400 - power generation sleeve, 401 - hysteresis coil, 402 - iron core, 501 - spring, 600 - gimbal connecting the diagonal strut and the plumb bob, 601 - upper end of the second gimbal, 602 - second cross shaft, 603 - lower end of the second gimbal. Detailed implementation manners

[0026] The present invention will be further described below with reference to the drawings and embodiments.

[0027] The structures, ratios, sizes, etc. shown in the drawings of this specification are only used to cooperate with the content disclosed in the specification for those skilled in this technology to understand and read, and are not used to limit the limiting conditions under which the present invention can be implemented. Therefore, they do not have technical essence. Any modification of the structure, change of the proportional relationship, or adjustment of the size, without affecting the effects that the present invention can produce and the purposes that can be achieved, should still fall within the scope covered by the technical content disclosed in the present invention. At the same time, the terms such as "upper", "lower", "left", "right", "middle", and "one" cited in this specification are only for the convenience of clear narration, and are not used to limit the scope under which the present invention can be implemented. The change or adjustment of their relative relationships, without substantial change in the technical content, should also be regarded as the scope within which the present invention can be implemented.

[0028] As Figure 1As shown in the figure, a floating wind-wave combined power generation unit system based on a pendulum energy-increasing and energy-harvesting wave energy device generally includes a wind power generation device 101, a semi-submersible floating platform 105 (hereinafter referred to as platform 105), an anchor chain 106, a pendulum 200, three diagonal braces 302 respectively hinged to the pendulum 200, a power generation sleeve 400 that cooperates with the diagonal brace 302 to generate electricity and is hinged to the platform 105, and other structures. This unit selects a common equilateral triangle semi-submersible floating platform 105. The main floating body is composed of double-layer pipe fittings and three columns. The lower cross brace 103 and the columns provide buoyancy and are moored by three groups of anchor chains 106. A wind power generation device 101 is arranged on the upper part of the semi-submersible floating platform 105. The semi-submersible floating platform is moored by three groups of anchor chains. Three power generation sleeves 400 are hinged inside the semi-submersible floating platform through universal joints. The lower end of each power generation sleeve 400 is respectively installed at the upper end of a damping diagonal brace 302 with a variable length. The lower end of the damping diagonal brace 302 is hinged to the pendulum 200 through a universal joint. The power generation sleeve 400, the damping diagonal brace 302 and the pendulum 200 together form an inverted triangular pyramid-shaped wave energy power generation device. The wind power generation device 101 and the wave energy power generation device are both controlled by a control system. The universal joint connected to the power generation sleeve 400 is composed of an upper end 601 of the second universal joint, a second cross shaft 602, and a lower end 603 of the second universal joint. The universal joint connected to the pendulum 200 is composed of an upper end 201 of the first universal joint, a first cross shaft 202, and a lower end 203 of the first universal joint. This technology is the prior art and will not be elaborated here.

[0029] As Figure 2 shown, the pendulum 200 and the bottom ends of the three damping diagonal braces 302 with variable lengths are respectively hinged and connected by universal joints, which can ensure the flexible movement between the pendulum 200 and each diagonal brace 302. At the same time, combined with the structure as Figure 6 shown, it can ensure that there is no bending moment inside the wave energy power generation structure composed of the diagonal brace 302 and the power generation sleeve 400, so that the device is not damaged and fails. Under the combined action of wave energy and the platform 105, the pendulum 200 presents six-degree-of-freedom movement, that is, compression, tension, rotation, and translation. At the same time, the force is transmitted to the power generation unit composed of the diagonal brace 302 and the power generation sleeve 400 through the universal joint hinge point, causing an axial relative movement between the two to generate electricity.

[0030] The pendulum 200 used to lower the center of gravity, the three diagonal braces 302 with variable lengths and damping, and the PTO system composed of the power generation sleeve are hinged under the floating body through universal joints. The upper end of the diagonal brace 302, that is, the safe position above the water surface, is equipped with a linear motor PTO and is hinged to the upper cross brace, as Figure 1As shown in the figure. The telescopic diagonal strut with hinged ends has multiple degrees of freedom of motion, forming a time-varying triangular pyramid with a fixed bottom surface. By setting the PTO reaction force and limiting the stroke of the diagonal strut 302 side, it can ensure that any side of the pyramid does not collide with the main floating body and provide sufficient anti-tipping restoring moment. The design concept of this unit is as follows: reducing the center of gravity with a concentrated mass to save the steel consumption of the main floating body; lengthening the force arm of the diagonal strut 302 to amplify the wave moment and increase the installed capacity of wave energy; suspending the wave energy device underwater with an inverted triangular pyramid to avoid the water surface slamming of moving parts. From the perspective of spatial layout, the upper layer of this unit captures wind energy, and the lower layer absorbs wave energy, with a reasonable division of labor and a compact structure.

[0031] The wave energy system composed of the suspension weight 200, the diagonal strut 302, and the universal joint hinged structure can uniformly convert the six-degree-of-freedom motion of the semi-submersible floating platform 105 and the suspension weight 200 under the action of wave energy into the reciprocating relative motion between the stator and the NdFeB rotor 301 inside the linear generator inside the diagonal strut, so as to directly convert wave energy into electrical energy by using the linear generator. At the same time, the generated electrical energy is transmitted to the platform through wires and used after unified processing. In addition, the linear motor structure is located above the structure's submergence line, and is connected to the cross brace 103 on the platform and the lower suspension weight 200 by hinges, avoiding the generation of bending moment inside the diagonal strut 302 structure and thus preventing the structure from being damaged.

[0032] In the present invention, the suspension weight 200 is respectively hinged to the three diagonal struts 302, which can ensure the free movement of the suspension weight 200 relative to each diagonal strut 302, prevent the appearance of bending moment in the diagonal strut 302, and at the same time ensure that the motion of each degree of freedom of the suspension weight 200 can be absorbed and utilized by the relative motion of the diagonal strut 302 and the power generation sleeve 400 with a hysteresis coil 401 on the upper part, converting the mechanical energy of the motion of each degree of freedom of the suspension weight 200 relative to the platform into electrical energy.

[0033] As Figure 3 shown. The upper end of the diagonal strut 302 is provided with an NdFeB rotor 301, which, in the above working state, generates relative motion with the Figure 4 hysteresis coil 401 inside the power generation sleeve 400 shown in the figure. The hysteresis coil 401 cuts the magnetic induction lines of the NdFeB rotor 301, generating an electric current in the hysteresis coil 401. The electric current is transmitted to the platform 105 through wires and used after integrated voltage stabilization and other processing.

[0034] As Figure 4 shown, the main structure of the power generation sleeve 400 consists of a hysteresis coil 401, an iron core 402, and an external sleeve. As Figure 6As shown, the top end of the power generation sleeve 400 is hinged to the platform cross brace 103 by a universal joint, which can prevent the generation of bending moment between the diagonal brace 302 and the power generation sleeve 400 and affect the structural strength of the device. Thus, the force not absorbed by the pendulum wave energy device 200 acts on the platform 105. By reasonable adjustment, the motion response of the platform can be adjusted through the action of this part of the force, so that the unit can maintain a safe and stable working state.

[0035] As Figure 5 shown, the neodymium iron boron mover 301 and the power generation sleeve 400 are connected by a spring 501, which can help the diagonal brace 302 and the power generation sleeve 400 return to the state for the next work, and at the same time can limit the excessive movement between the two, avoiding the collision between the top end of the diagonal brace 302 and the power generation sleeve 400, thus avoiding device damage. At the same time, the neodymium iron boron mover 301 can adjust the magnetic induction line intensity by changing the magnitude of the energized current, so as to change the PTO (Power Take - Off) force between the diagonal brace 302 and the power generation sleeve 400, playing a role in flexibly adjusting the overall operation of the unit according to the sea conditions of the device.

[0036] Coordinated control method for a pendulum floating wind - wave combined generator set The control method is realized through the following means: The PTO force generated between the power generation sleeve 400 and the diagonal brace 302 due to hysteresis acts on the cross brace 103 of the platform 105 through the hinge. By changing the magnetic induction line intensity of the neodymium iron boron mover magnet through a certain control strategy, the magnitude of the PTO force can be changed, so that torque control can be achieved on the platform, thereby changing the motion response of the platform.

[0037] When the offshore floating wind turbine generator set receives wind loads and wave loads, the wind turbine of the floating wind turbine converts the mechanical energy of blade flapping into electrical energy; the pendulum - enhanced energy - harvesting wave energy device enters the working state. The pendulum 200 is simultaneously subjected to wave loads and dynamic loads conducted by the platform, and shows a motion different from the previous moment in the time history. In this relative motion of the pendulum 200 with respect to the platform, the relative motion of the neodymium iron boron mover 301 at the top of the power generation sleeve 400 and the diagonal brace 302 in the axial direction can be absorbed and converted by the PTO system, and this part of the mechanical energy is converted into electrical energy and transmitted to the platform of the floating wind turbine generator set for voltage stabilization and unified allocation and then utilized.

[0038] When the wave acts on the pendulum 200, the pendulum 200 absorbs wave energy and interacts with the platform 105 through its relative movement. The remaining wave energy not absorbed by the pendulum 200 is transmitted to the platform 105 through the power generation sleeve 400, generating corresponding forces. Due to the universal joint hinge connection between the pendulum 200 and the platform 105, relative movement can occur between the platform 105 and the pendulum 200, and the force transmission generates a force on the platform 105, helping to suppress the excessive movement response of the platform 105. By adjusting the magnitude and direction of the reaction force through the PTO system, the movement response of the platform 105 can be effectively controlled, reducing the movement amplitude of the platform 105, thereby improving the stability of the platform 105. This design principle utilizes the interaction between the flexible movement of the pendulum 200 and the platform 105, which can effectively reduce the excessive vibration or tilt caused by waves, enhance the anti-interference ability of the entire system, and ensure that the unit remains in a safe and stable working state under the action of waves.

[0039] The power generation sleeves 400 connected to the semi-submersible floating platform are all equipped with positioning devices that can read the distance between each of them and the axis of the platform's center of gravity in real time. L 1 、L 2 、L 3 , and through the calculation and analysis of the control system, the torque of the PTO force output by the three PTO systems on the platform is analyzed, so as to control the blade flapping plane of the wind turbine generator to always be within the optimal energy capture interval facing the wind direction.

[0040] The control strategy as described above is determined by the method of torque calculation in the control system, and the specific formula is as follows: , Among them, M p represents the torque of the PTO system composed of the three power generation sleeves and the diagonal braces on the platform; F p1 、F p2 、 F p3 respectively represent the magnitudes of the PTO forces of each PTO system; θ 1 、 θ 2 、 θ 3 respectively represent the angles between the lines connecting the PTO application points of each PTO system and the axis of the platform's center of gravity parallel to the wind direction tangent plane; η represents the angle between the flapping blade of the wind turbine generator facing the wind direction; M represents the resultant torque received by the system; M wind， M waverespectively represent the moments caused by wind and waves on the overall floating platform; M i represents various moments exerted by factors other than wind and waves that affect the system.

[0041] In the present invention, the wave energy generation principle adopts the form of a linear motor, and the force transmission adopts the form of a universal joint hinge, with a simple structure and convenient maintenance. Through the common connection of the platform 105 and the pendulum 200 to the wave energy generation device, the energy acquisition of the wave energy device is improved, and the safety and stability of the system are increased. Generally speaking, the present invention plays the roles of convenient maintenance, low cost, increased energy acquisition, ensured safety, and stable and efficient operation.

[0042] Although the specific embodiments of the present invention have been described above in conjunction with the accompanying drawings, it is not a limitation on the protection scope of the present invention. Those skilled in the art should understand that based on the technical solution of the present invention, various modifications or deformations that can be made without creative labor by those skilled in the art are still within the protection scope of the present invention.

Claims

1. A pendulum floating combined wind-wave power generation unit, comprising a semi-submersible floating platform. A wind power generation device is arranged on the upper part of the semi-submersible floating platform. The semi-submersible floating platform is moored by three groups of anchor chains. It is characterized in that, There are three power generation sleeves internally hinged on the semi-submersible floating platform. The lower end of each power generation sleeve is respectively installed corresponding to the upper end of a damping diagonal strut with variable length. The lower end of the damping diagonal strut is hinged to the hanging weight through a universal joint. The power generation sleeve, the damping diagonal strut and the hanging weight together form an inverted triangular pyramid-shaped wave energy power generation device. Both the wind power generation device and the wave energy power generation device are controlled by a control system.

2. The hanging and floating combined wind-wave power generation unit according to claim 1, characterized in that, The semi-submersible floating platform is a regular prism, composed of upper and lower layers of cross braces connecting the upper and lower surfaces of the triangular prism. The upper and lower surfaces are connected by columns. The lower layer of cross braces and the columns provide buoyancy. An anchor chain is connected to each column.

3. The hanging and floating combined wind and wave power generation unit according to claim 2, characterized in that, The upper end of the power generation sleeve is correspondingly hinged to the upper layer of cross braces.

4. The hanging hammer floating type wind-wave combined power generation unit according to claim 1, characterized in that, A hysteresis coil is arranged on the inner cavity wall of the power generation sleeve.

5. The pendulum floating type wind-wave combined power generation unit according to claim 1, characterized in that, The damping diagonal strut is located inside the regular prism-shaped semi-submersible floating platform and does not contact the semi-submersible floating platform.

6. The hanging and floating combined wind and wave power generation unit according to claim 5, characterized in that, An NdFeB mover capable of extending into the inner cavity of the power generation sleeve is arranged on the outer edge of the upper end of the damping diagonal strut. The power generation sleeve and the NdFeB mover form a linear motor. The top of the damping diagonal strut is connected to the power generation sleeve by a spring. Both ends of the spring are provided with connection bases. The lower end of the base is fixed on the upper edge of the NdFeB mover at the top of the power generation sleeve, and the upper end of the base contacts the inside of the sleeve. The relative movement between the power generation sleeve and the diagonal strut is restricted by the damping of the spring to prevent collision between the upper end of the diagonal strut and the power generation sleeve.

7. The pendulum floating type combined wind and wave power generation unit according to claim 6, characterized in that, The diagonal strut and the hanging weight below the linear motor are located below the water surface, which can avoid the water surface slamming of the moving parts.

8. A coordinated control method for a hanging weight floating wind-wave combined generator set, characterized in that it includes: The PTO force generated between the power generation sleeve and the diagonal strut due to hysteresis acts on the upper layer of cross braces of the semi-submersible floating platform through the hinge. By controlling the strategy to change the magnetic induction line intensity of the mover magnet, the magnitude of the PTO force can be changed, thereby realizing torque control of the semi-submersible floating platform and changing the motion response of the platform. When the wind power generation device receives wind loads and wave loads, the wind turbine of the wind power generation device converts the mechanical energy of the blade flapping into electrical energy; each hanging weight-stabilized and energy-harvested wave energy power generation device enters the working state. The hanging weight is simultaneously subjected to wave loads and dynamic loads conducted by the semi-submersible floating platform, and shows a motion different from the previous moment in the time history. In this relative motion of the hanging weight with respect to the platform, the relative motion of the NdFeB mover at the top of the power generation sleeve and the diagonal strut in the axial direction is absorbed and converted, and this part of the mechanical energy is converted into electrical energy and these electrical energies are transmitted to the semi-submersible floating platform for voltage stabilization and unified distribution and then utilized.

9. The collaborative control method of the hanging hammer floating wind-wave combined power generation unit according to claim 8, characterized in that, The power generation sleeves connected to the semi-submersible floating platform are all equipped with positioning devices that can read the distances between themselves and the platform's center of gravity axis in real time. L 1 、L 2 、L 3 , and through the calculation and analysis of the control system, the torques of the PTO forces output by the three PTO systems on the platform are analyzed, so as to control the blade flapping plane of the wind turbine generator to always be within the optimal energy capture range facing the wind direction.

10. The collaborative control method of the hanging hammer floating type wind-wave combined power generation unit as described in claim 8, characterized in that, The control strategy is determined by the method of torque calculation in the control system. The specific formula is as follows: , Among them, M p represents the moment of force exerted on the platform by the PTO system composed of three power generation sleeves and the diagonal brace; F p1 、F p2 、F p3 respectively represent the magnitudes of the PTO forces of each PTO system; θ 1 、θ 2 、θ 3 respectively represent the angles between the lines connecting the PTO application points of each PTO system and the center of gravity axis of the platform and the wind direction tangent plane; η represents the angle between the flapping blade of the wind turbine generator and the wind direction; M represents the resultant moment received by the system; M wind， M wave respectively represent the moments caused by the wind and waves on the floating platform as a whole; M i represents the various moments exerted by factors other than the wind and waves that affect the system.

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