A wave pool system and control method

Abstract

This invention discloses a wave-damping wave tank system and control method, relating to the field of wave testing technology. The system includes a constraint device, a water tank, a wave-generating device, a wave-damping device, and a control system. The wave-generating and wave-damping devices are configured to have identical structures. The control system is configured to apply different control strategies to the wave-generating and wave-damping devices, and calculates the target thrust command based on the displacement and velocity feedback of the wave-generating and wave-damping floats. The wave-damping device applies an external control force to the floats. This invention, by setting up a wave-generating and wave-damping device, relies on the wave-generating device to generate waves by performing reciprocating linear motion in the vertical direction to induce oscillation in the working fluid. The wave-damping device employs an active wave-damping algorithm with nonlinear restoring force compensation, effectively improving wave-damping efficiency under large amplitude conditions.

Description

Technical Field

[0001] This invention relates to the field of wave testing technology, specifically to a wave-damping wave pool system and control method. Background Technology

[0002] In coastal engineering, shipbuilding engineering, and marine engineering, scaled-down physical model testing is a key method for solving complex engineering problems. Currently, most wave pools use rotary motors to drive wave-generating plates via gearboxes, crankshafts, connecting rods, or hydraulic cylinders, which suffers from long power chains, large response delays, low reliability, and bulky structures. While rotary servo motors combined with ball screws shorten the transmission chain, they still have issues such as backlash, speed limitations, and stroke limitations. In wave damping, traditional passive wave-damping beaches suffer from limited efficiency, large space requirements, and a lack of adaptability.

[0003] Existing active wave-damping technologies are all based on linear assumptions. For example, CN116659806A discloses a two-dimensional wave-generating tank with active wave absorption function driven by a voice coil motor. The tank includes a wave-generating device, a tank body, and a force feedback active wave-absorbing device. The force feedback active wave-absorbing device and the wave-generating device are rigidly connected to both sides of the tank body by a bracket. Each device includes a voice coil linear motor, a small processor, a magnetic grating displacement sensor, a lever amplification mechanism, and a float. The output end of the voice coil linear motor is connected to the lever amplification mechanism, which is connected to the float. The small processor is connected to the magnetic grating displacement sensor signal. The voice coil linear motor is used to apply wave-absorbing force to the float according to the data of the magnetic grating displacement sensor. For example, CN120947982A discloses a circular pool wave-generating system and wave-generating and wave-damping method, which includes: several wave-generating units evenly distributed around the circumference of the circular pool; each wave-generating unit includes a linear motor, which is connected to a float via a connecting rod; the linear motor is connected to a driver, which is connected to a host computer, and the host computer sends control commands to the driver, so that the float floats on the water surface and has one degree of freedom of vertical translation.

[0004] The aforementioned wave-generating and wave-dissipating devices mainly use linear wave dissipation. When the floating body moves significantly, the nonlinearity of the restoring force will lead to a decrease in wave dissipation efficiency. Therefore, this invention proposes a wave-dissipating pool system and control method based on nonlinear restoring force compensation. Summary of the Invention

[0005] This invention proposes a wave-damping pool system and control method to solve the problem of reduced wave-damping efficiency caused by the nonlinearity of the restoring force when the floating body moves a large distance.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: a wave-damping wave pool system, comprising: restraint devices; A water tank, mounted on the restraint device, is filled with working fluid; A wave-generating device is located at one end of the constraint device; The wave-damping device is located at the other end of the restraint device. Both the wave-generating device and the wave-damping device are equipped with floats that are submerged or partially submerged in the working fluid. The floats move in a reciprocating linear motion in the vertical direction to generate waves by oscillating the working fluid. The control system is communicatively connected to the wave-generating and wave-damping devices. The wave-generating device and the wave-damping device are configured to have the same structure. The control system is configured to apply different control strategies to the wave-generating device and the wave-damping device, and calculate the target thrust command based on the displacement and velocity feedback of the wave-generating float and the wave-damping float. The external control force f_c(t) applied by the wave-damping device to the float is: f_c(t)=-C_ext·dz(t) / dt-N_ext(z)·z(t) Where C_ext is the nonlinear external restoring force coefficient related to the vertical displacement of the float in the wave-damping device, N_ext(z) is the system damping coefficient of the external control, dz(t) / dt is the vertical velocity of the float in the wave-damping device, and z(t) is the vertical displacement of the float in the wave-damping device.

[0007] Preferably, both the wave-generating device and the wave-damping device further include: A permanent magnet synchronous linear motor is fixed vertically to the end of a constraint device, on which a load slider is mounted. A metal connecting rod, one end of which is connected to the load slider by a fastener, and the other end of which is connected to the float.

[0008] Preferably, the metal connecting rod includes an upper connecting rod, a lower connecting rod, and an adjusting sleeve. The inner wall of the adjusting sleeve is provided with an internal thread. The distance between the upper connecting rod and the lower connecting rod is adjusted by rotating the adjusting sleeve, thereby adjusting the total length of the metal connecting rod.

[0009] Preferably, the upper part of the metal connecting rod extends into the internal space of the stator of the permanent magnet synchronous linear motor and is fixedly connected to the lower part of the load slider by bolts, so that the heave motion stroke of the float is greater than the stroke when the metal connecting rod is completely outside the stator at a given installation height.

[0010] Preferably, the vertical cross-section of the float is a wedge-shaped or trapezoidal structure. The permanent magnet synchronous linear motor housing has an IP67 or higher protection rating. The restraint device is a gantry-type bracket structure, with its bottom fixed to the mounting base by anchor bolts.

[0011] Preferably, the control system includes a host computer, a controller, a driver, and multiple sensors installed in the water tank. The host computer, driver, and sensors are electrically connected to the controller.

[0012] Preferably, the displacement-restoring force curve is obtained by calculating or measuring the drainage volume under different vertical displacements based on the geometry of the floating body, and then polynomial fitting or a lookup table is established on the displacement-restoring force curve.

[0013] A control method for a wave-damping wave pool system, applicable to the aforementioned wave-damping wave pool system, includes the following steps: S1. Apply different vertical external loads to the float of the wave-damping device to produce different draft states; measure or calculate the displacement volume of the float under each draft state to obtain the vertical displacement-restoring force curve of the float; perform polynomial fitting or establish a lookup table on the vertical displacement-restoring force curve to obtain the nonlinear external restoring force coefficient C_ext. S2. Set the wave generation parameters for wave height, wave period, and wave train duration; S3. The control system drives the permanent magnet synchronous linear motor of the wave-generating device to make the floating body of the wave-generating device oscillate to generate the target wave. S4. Real-time acquisition of the vertical displacement z(t) and velocity dz(t) / dt of the floating body in the wave-damping device; S5. Calculate the external control force exerted by the wave-damping device on the buoy using the following formula: f_c(t)=-C_ext·dz(t) / dt-N_ext(z)·z(t) Where C_ext is the nonlinear external restoring force coefficient obtained in step S1, and N_ext(z) is the system damping coefficient of external control; S6. The control system uses f_c(t) as a thrust command to drive the permanent magnet synchronous linear motor of the wave damping device to output the control force and absorb the incident wave energy.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: This invention utilizes a wave-generating device and a wave-damping device. The wave-generating device generates waves by reciprocating linear motion in the vertical direction, causing the working fluid to oscillate. The wave-damping device employs an active wave-damping algorithm with nonlinear restoring force compensation, effectively improving wave-damping efficiency under large amplitude conditions. Furthermore, the invention's simple transmission structure, fast response, low friction, and advanced wave-generating and wave-damping algorithm enable the generation of high-quality target waves in relatively small water tanks. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of a wave-damping wave pool system according to the present invention.

[0017] Figure 2 This is a cross-sectional view of a wave-damping wave pool system according to the present invention.

[0018] Figure 3 This is a schematic diagram of the wave-generating device and wave-damping device of the present invention.

[0019] Figure 4 This is a schematic diagram of another embodiment of the wave-generating device and wave-damping device of the present invention.

[0020] Figure 5 This is a cross-sectional view of the embedded metal connecting rod of the present invention.

[0021] Figure 6 This is a schematic diagram of the floating body motion of the present invention.

[0022] Figure 7 This is the overall control flowchart of the present invention.

[0023] Figure 8 The absorption condition is a regular wave with a time interval of T=1.39s.

[0024] Figure 8 In the middle (a), the regular wave absorption condition of the traditional linear algorithm T=1.39s is shown.

[0025] Figure 8 (b) shows the regular wave absorption condition of the active wave suppression algorithm with T=1.39s after nonlinear restoring force correction.

[0026] Figure 9 The absorption condition is a regular wave with a time interval of T=1.82s.

[0027] Figure 9 In the middle (a), the regular wave absorption condition of the traditional linear algorithm T=1.82s is shown.

[0028] Figure 9 (b) shows the regular wave absorption condition of the active wave suppression algorithm with T=1.82s after nonlinear restoring force correction.

[0029] Figure 10 This is a nonlinear restoring force coefficient curve.

[0030] In the diagram: 1-Constraint device; 2-Water tank; 3-Wave generating device; 4-Wave damping device; 5-Floating body; 6-Permanent magnet synchronous linear motor; 7-Metal connecting rod; 8-Load slider. Detailed Implementation

[0031] To better understand the structure of the present invention and the functional features and advantages it can achieve, the preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0032] like Figures 1 to 5 As shown, the present invention provides a wave-damping wave pool system, comprising: Restraint device 1; Water tank 2 is installed on restraint device 1 and is filled with working fluid; the dimensions of water tank 2 are 20m×1m×1.5m, and modular devices with the same structure are installed at both ends, only the control strategies are different. Wave-generating device 3 is located at one end of restraint device 1; Wave-damping device 4 is located at the other end of restraint device 1. Both wave-generating device 3 and wave-damping device 4 are equipped with floats 5 that are submerged or partially submerged in the working fluid. The floats 5 generate waves by reciprocating linear motion in the vertical direction to make swaying motion on the working fluid. The control system is communicatively connected to the wave-generating device 3 and the wave-damping device 4. The wave-generating device 3 and the wave-damping device 4 are configured to have the same structure. The control system is configured to apply different control strategies to the wave-generating device 3 and the wave-damping device 4, and calculate the target thrust command based on the displacement and velocity feedback of the wave-generating float 5 and the wave-damping float 5. The external control force f_c(t) applied by the wave-damping device 4 to the float 5 is: f_c(t)=-C_ext·dz(t) / dt-N_ext(z)·z(t) Wherein, C_ext is the nonlinear external restoring force coefficient related to the vertical displacement of the float 5 in the wave-damping device 4, N_ext(z) is the system damping coefficient of external control, dz(t) / dt is the vertical velocity of the float 5 in the wave-damping device 4, and z(t) is the vertical displacement of the float 5 in the wave-damping device 4.

[0033] Specifically, based on the geometry of float 5, the drainage volume under different vertical displacements is calculated or measured to obtain the displacement-restoring force curve. Polynomial fitting or a lookup table is then performed on the displacement-restoring force curve.

[0034] See Figure 3 and Figure 4 Both the wave-generating device 3 and the wave-damping device 4 also include: A permanent magnet synchronous linear motor 6 is fixed vertically to the end of the constraint device 1, and a load slider 8 is provided on it; The metal connecting rod 7 is connected at one end to the load slider 8 by a fastener, and at the other end to the float 5.

[0035] A permanent magnet synchronous linear motor 6 is used to directly drive the wave-generating float 5 in a vertical direction to perform heaving motion, completely eliminating the rotation-to-linear motion conversion link. Specifically, the parameters of the permanent magnet synchronous linear motor 6 are: rated thrust of 46.7N, peak thrust of 400N, stroke of 120mm, and accuracy of 0.001mm.

[0036] Furthermore, the permanent magnet synchronous linear motor 6 has an IP67 or higher protection rating for its housing, an anti-corrosion coating on its stator, and a stainless steel dust cover on its mover.

[0037] See Figure 3 and Figure 4 The vertical cross-section of float 5 is either wedge-shaped or trapezoidal, and float 5 is a hollow, thin-walled structure. The wedge-shaped float 5 is suitable for medium- to high-frequency waves, while the trapezoidal float 5 is suitable for large-wave, high- to low-frequency waves. The parameters for the wedge-shaped float 5 are: wedge width 32mm, height 375mm, angle 37.545°. The parameters for the trapezoidal float 5 are: trapezoidal base length 842mm, height 1223mm, width 492mm. Float 5 is made of 304 stainless steel with a wall thickness of 2mm.

[0038] Specifically, the control system includes a host computer, a controller, a driver, and multiple sensors installed in the water tank 2. The host computer, driver, and sensors are electrically connected to the controller. Specifically, the sensors are force sensors and magnetic grating displacement sensors.

[0039] The driver utilizes the Googol GSHD series high-performance servo driver, supporting multi-axis synchronous control and various control modes, including position loop, speed loop, and torque loop. Its response frequency reaches 2kHz, meeting the requirements of high-frequency wave oscillations. The driver incorporates a self-tuning algorithm that automatically optimizes control parameters based on load changes, ensuring system adaptability. The communication interface supports the EtherCAT protocol, enabling low-latency communication with the controller and effectively improving signal transmission efficiency. By receiving commands from the controller, the driver adjusts the output torque or position of the permanent magnet synchronous linear motor 6 to ensure the matching of the wave-generating signal with the target waveform.

[0040] The controller, as the core computing unit of the system, utilizes the Googol GVN series high-performance multi-axis network motion control card, suitable for dual-axis control scenarios, meeting the collaborative requirements of the wave generation and suppression ends. This control card supports up to 32 axes, but only 2 axes are used in this system, providing ample resource redundancy. Its control cycle is less than 1ms, ensuring a fast response from the wave suppression system, and its data transmission rate reaches up to 100Mbps. Due to the high real-time and accuracy requirements of the wave suppression system, the high-performance characteristics of the GVN series control card effectively support active wave suppression algorithms based on "velocity-force" feedback.

[0041] The host computer is a standard desktop computer, configured with an Intel Core i5 processor, 8GB of RAM, and a 500GB hard drive. Since the control program's calculations are primarily handled by the motion control card, the host computer is only responsible for interface display, parameter input, and data storage; therefore, its computational performance requirements are not high. The host computer software is developed using C#, featuring a user-friendly interface and supporting waveform preview, real-time monitoring, and data export functions.

[0042] To achieve efficient absorption of incident waves, the floating body 5 of the wave-damping device 4 is simplified into a single-degree-of-freedom system with vertical motion. When the angular frequency is... When a regular wave is incident from the positive x-axis, the equation of motion for buoy 5 is:

[0043] In the above formula, The mass of float 5; This represents the vertical displacement of float 5. For helical radiation force; The excitation force of swaying waves; For external system control force.

[0044] Radiation force, wave force, and external system control force are respectively:

[0045]

[0046]

[0047] For the two-dimensional heave float 5 to completely absorb the incident regular wave, the optimal absorption coefficient corresponding to the external control system must satisfy the formula:

[0048]

[0049] in, Add mass to the heave of float 5; is the heave damping force coefficient of float 5; is the heave restoring force coefficient of float 5; The restoring force coefficient of the external control system; The damping coefficient of the external control system; The amplitude of the incident wave; To determine the wave amplitude ratio; To determine the amplitude of the wave amplitude ratio; To determine the phase of the wave amplitude ratio; Wave number; It is the acceleration due to gravity; This is the density of water.

[0050] See Figure 1 The constraint device 1 is a gantry-type support structure, and its bottom is fixed to the mounting base by anchor bolts.

[0051] See Figure 3 In one embodiment of the present invention, the metal connecting rod 7 includes an upper connecting rod, a lower connecting rod, and an adjusting sleeve. The distance between the upper and lower connecting rods is adjusted by rotating the adjusting sleeve, thereby adjusting the total length of the metal connecting rod 7. The adjusting sleeve can adjust the total length within a range of ±200mm, corresponding to a typical water depth variation of 0.3m to 0.7m in a water tank 2. Adjustment does not require disassembly of the device, and the operation time does not exceed 5 minutes.

[0052] See Figure 4 and Figure 5 In one embodiment of the present invention, the upper part of the metal connecting rod 7 extends into the internal space of the stator of the permanent magnet synchronous linear motor 6 and is fixedly connected to the lower part of the load slider 8 by bolts, so that when the constraint device 1 is at a given installation height, the heave motion stroke of the float 5 is greater than the stroke when the metal connecting rod 7 is completely outside the stator, and the stroke can be increased by more than 70% at the same installation height.

[0053] A control method for a wave-damping pool system, applicable to the aforementioned wave-damping pool system, includes the following steps: S1. Apply different vertical external loads to the float 5 of the wave-damping device 4 to produce different draft states; measure or calculate the displacement volume of the float 5 under each draft state to obtain the vertical displacement-restoring force curve of the float 5; perform polynomial fitting or establish a lookup table on the vertical displacement-restoring force curve to obtain the nonlinear external restoring force coefficient C_ext. S2. Set the wave generation parameters for wave height, wave period, and wave train duration; S3. The control system drives the permanent magnet synchronous linear motor 6 of the wave-generating device 3, causing the float 5 of the wave-generating device 3 to sway and generate target waves. S4. Real-time acquisition of the vertical displacement z(t) and velocity dz(t) / dt of the float 5 in the wave-damping device 4; S5. Calculate the external control force exerted by the wave-damping device 4 on the buoy 5 according to the following formula: f_c(t)=-C_ext·dz(t) / dt-N_ext(z)·z(t) Wherein, C_ext is the nonlinear external restoring force coefficient obtained by step S1, and N_ext(z) is the system damping coefficient of external control; S6. The control system uses f_c(t) as a thrust command to drive the permanent magnet synchronous linear motor 6 of the wave-damping device 4 to output the control force and absorb the incident wave energy.

[0054] Since the surface area of ​​the float 5 with waterline varies nonlinearly with the draft due to the wedge / trapezoidal structure, the restoring force coefficient is not constant. This invention extends it to C_ext to accurately compensate for geometric nonlinearity.

[0055] This invention introduces a wave-damping control method with nonlinear restoring force compensation, which calculates the actual restoring force under different drafts based on the geometry of the float 5, thereby improving wave-damping efficiency under large amplitude conditions.

[0056] This invention has been verified through water tank experiments, such as... Figure 8 and Figure 9 As shown, where, Figure 8 (b) and Figure 9 (b) The active wave-damping algorithm with nonlinear restoring force correction is superior to the traditional linear algorithm. Figure 8 (a) and Figure 9 In (a), it can be found that the amplitude of the reflected wave at the main frequency position is less than 5% of the amplitude of the incident wave, and the improvement in the large amplitude condition is more significant.

[0057] Working principle of the invention: The wave-generating device 3 and wave-damping device 4 of the invention are devices composed of a permanent magnet synchronous linear motor 6 connected to a floating body 5 via a metal connecting rod 7. The positions of the wave-generating end and the wave-damping end can be interchanged. For ease of understanding, a schematic diagram of the force feedback wave absorption technology is given, as follows. Figure 7As shown, when the waves generated by the wave-generating end are transmitted to the wave-absorbing end, the waves will push the metal connecting rod 7 of the float 5 of the wave-absorbing device 4 to produce a vertical displacement. The vertical displacement is collected by the displacement sensor of the permanent magnet synchronous linear motor 6 and the velocity signal is obtained by calculation. The permanent magnet synchronous linear motor 6 will output the correct wave-absorbing force fa(t) based on the displacement signal and the velocity signal. The float 5 of the wave-absorbing device 4 will absorb the energy contained in the waves within the corresponding time t. It is generally believed that when the time t is extremely short, that is, when the input frequency of displacement and velocity and the corresponding wave-absorbing force output frequency are fast enough, the permanent magnet synchronous linear motor 6 moves continuously in time, so that the wave absorption process can continue. The wave-generating device 3 uses torque wave generation, where a permanent magnet synchronous linear motor 6 outputs thrust to the float 5 of the wave-generating device 3, causing the float 5 to displace vertically and thus pushing the water to generate the target wave. Absorption-type wave generation allows the wave-generating device 3 to absorb reflected waves from structures and solid walls within the distant water tank 2 while simultaneously generating the target wave. Its absorption principle is the same as that of the wave-absorbing device 4. The overall algorithm of the wave-generating device 3, taking a regular wave as an example, is: F = f1*sin(wt) + fa(t), where f1*sin(wt) is the wave-generating force of the regular wave, and fa(t) is the wave-absorbing force. Different waves are generated by changing the output form of the wave-generating force. Based on the advantages of the wave-generating device 3 and wave-absorbing device 4—simple transmission structure, fast response, low friction, and advanced wave-generating and wave-absorbing algorithms—high-quality target waves can be generated in relatively small water tanks.

[0058] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention in any way. Any person skilled in the art can make many possible variations and modifications to the technical solutions of the present invention, or modify them into equivalent embodiments, without departing from the scope of the present invention. Therefore, any modifications, equivalent changes, and alterations made to the above embodiments based on the technology of the present invention without departing from the scope of the present invention are within the protection scope of the present invention.

Claims

1. A wave pool system of the dissipative type, characterized in that, include: Restraint device (1); A water tank (2) is provided on the restraint device (1) and is filled with working fluid; A wave-generating device (3) is located at one end of the constraint device (1); Wave-damping device (4) is located at the other end of the constraint device (1). Both the wave-generating device (3) and the wave-damping device (4) are equipped with floats (5) that are submerged or partially submerged in the working fluid. The floats (5) move in a reciprocating linear motion in the vertical direction to generate waves by oscillating the working fluid. The control system is communicatively connected to the wave-generating device (3) and the wave-damping device (4); The wave-generating device (3) and the wave-damping device (4) are configured to have the same structure. The control system is configured to apply different control strategies to the wave-generating device (3) and the wave-damping device (4), and to calculate the target thrust command based on the displacement and velocity feedback of the wave-generating float (5) and the wave-damping float (5). The external control force f_c(t) applied by the wave-damping device (4) to the float (5) is: f_c(t)=-C_ext·dz(t) / dt-N_ext(z)·z(t) Wherein, C_ext is the nonlinear external restoring force coefficient related to the vertical displacement of the float (5) of the wave-damping device (4), N_ext(z) is the system damping coefficient of external control, dz(t) / dt is the vertical velocity of the float (5) in the wave-damping device (4), and z(t) is the vertical displacement of the float (5) in the wave-damping device (4).

2. A wave dissipating pool system as claimed in claim 1, wherein, The wave-generating device (3) and the wave-damping device (4) also include: A permanent magnet synchronous linear motor (6) is fixed vertically to the end of the constraint device (1), and a load slider (8) is provided on it. A metal connecting rod (7) is connected at one end to the load slider (8) by a fastener, and at the other end to the float (5).

3. A wave dissipating pool system as claimed in claim 2, wherein, The metal connecting rod (7) includes an upper connecting rod, a lower connecting rod, and an adjusting sleeve. The inner wall of the adjusting sleeve is provided with an internal thread. The distance between the upper connecting rod and the lower connecting rod is adjusted by rotating the adjusting sleeve, so as to adjust the total length of the metal connecting rod (7).

4. A wave dissipating pool system as claimed in claim 2, wherein, The upper part of the metal connecting rod (7) extends into the internal space of the stator of the permanent magnet synchronous linear motor (6) and is fixedly connected to the lower part of the load slider (8) by bolts, so that the heave motion stroke of the float (5) is greater than the stroke when the metal connecting rod (7) is completely outside the stator at a given installation height.

5. A wave-damping wave pool system as described in claim 3 or 4, characterized in that, The vertical cross-section of the float (5) is a wedge-shaped structure or a trapezoidal structure.

6. The wave-damping wave pool system as described in claim 1, characterized in that, The control system includes a host computer, a controller, a driver, and multiple sensors installed in the water tank (2). The host computer, the driver, and the sensors are electrically connected to the controller.

7. A wave-damping wave pool system as described in claim 1, characterized in that, The constraint device (1) is a gantry-type support structure, and its bottom is fixed to the mounting base by anchor bolts.

8. A wave-damping wave pool system as described in claim 1, characterized in that, Based on the geometric shape of the floating body (5), calculate or measure the drainage volume under different vertical displacements to obtain the displacement-restoring force curve, and perform polynomial fitting or establish a lookup table on the displacement-restoring force curve.

9. A wave-damping wave pool system as described in claim 2, characterized in that, The permanent magnet synchronous linear motor (6) has an IP67 or higher protection rating in its housing.

10. A control method for a wave-damping pool system, applicable to the wave-damping pool system of claim 2, characterized in that, Includes the following steps: S1. Apply different vertical external loads to the float (5) of the wave-damping device (4) to produce different draft states; measure or calculate the displacement volume of the float (5) under each draft state to obtain the vertical displacement-restoring force curve of the float (5); perform polynomial fitting or establish a lookup table on the vertical displacement-restoring force curve to obtain the nonlinear external restoring force coefficient C_ext. S2. Set the wave generation parameters for wave height, wave period, and wave train duration; S3. The control system drives the permanent magnet synchronous linear motor (6) of the wave-generating device (3) to make the float (5) of the wave-generating device (3) sway and generate target waves. S4. Real-time acquisition of the vertical displacement z(t) and velocity dz(t) / dt of the floating body (5) in the wave-damping device (4); S5. Calculate the external control force exerted by the wave-damping device (4) on the buoy (5) according to the following formula: f_c(t)=-C_ext·dz(t) / dt-N_ext(z)·z(t) Where C_ext is the nonlinear external restoring force coefficient obtained in step S1, and N_ext(z) is the system damping coefficient of external control; S6. The control system uses f_c(t) as a thrust command to drive the permanent magnet synchronous linear motor (6) of the wave-damping device (4) to output the control force and absorb the incident wave energy.

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