Wave energy output power control method and system based on co-oscillation of floater and oscillator

Abstract

The present application relates to the technical field of wave energy device, provide a wave energy output power control method and system based on the co-oscillation of floating body and oscillator, comprising: based on the floating body, oscillator and environmental parameters, by solving the discretized constraint optimization problem, the optimal output power is obtained; wherein, in the constraint optimization problem, the vertical oscillation of the floating body is affected by gravity, seawater buoyancy, wave excitation force, additional inertia force and wave making damping force, the longitudinal oscillation of the floating body is affected by inertia moment, damping moment, restoring moment and excitation moment, the vertical oscillation of the oscillator is affected by gravity, the support force of the central axis, damping force and spring force; the longitudinal oscillation of the oscillator is affected by torsional spring torque, rotating damper torque and its own rotational inertia moment. The optimization control system of wave energy output power is completely described, and the energy conversion efficiency of wave energy device is captured.

Description

Technical Field

[0001] This invention belongs to the field of wave energy device technology, and particularly relates to a method and system for controlling wave energy output power based on the co-oscillation of a buoy and an oscillator. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] Wave energy is an abundant, renewable, and green marine resource with enormous potential in alleviating the growing shortage of conventional energy and promoting social sustainable development. Wave energy devices convert energy through oscillating motion driven by waves. Specifically, the floating body and the internal oscillator oscillate and pitch independently, with energy output achieved through linear and rotary dampers based on their relative motion. Conducting mechanistic analysis of the two motion states of the floating body and the oscillator, and effectively describing the work state of the dampers, is crucial for optimizing the energy conversion efficiency of wave energy devices. Summary of the Invention

[0004] To address the technical problems mentioned above, this invention provides a wave energy output power control method and system based on the co-oscillation of a float and an oscillator. The method conducts mechanism analysis on the heave and pitch motion of the float and the heave and pitch motion of the oscillator inside the wave energy device, establishes a constrained optimization problem, accurately describes the working principle of the damper, fully characterizes the optimized control system for wave energy output power, and captures the energy conversion efficiency of the wave energy device.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] The first aspect of the present invention provides a wave energy output power control method based on the co-oscillation of a buoy and an oscillator, comprising:

[0007] Acquire parameters for the floating body, oscillator, and environment;

[0008] Based on the parameters of the floating body, oscillator, and environment, the damper coefficients, as well as the displacement, velocity, and acceleration of the pitch and heave motions, are obtained by solving the discretized constraint optimization problem, thereby obtaining the optimal output power.

[0009] In the constrained optimization problem, the heave motion of the floating body is affected by gravity, seawater buoyancy, wave excitation force, additional inertial force, and wave-making damping force; the pitching motion of the floating body is affected by inertial torque, damping torque, restoring torque, and excitation torque; the heave motion of the oscillator is affected by gravity, the supporting force of the central axis, damping force, and spring force; and the pitching motion of the oscillator is affected by the torsional spring torque, the rotational damper torque, and its own rotational inertial torque.

[0010] Furthermore, in the discretization of the constrained optimization problem, the objective function is discretized using numerical integration, and the time derivative of the constraint equation is discretized using numerical differentiation.

[0011] Furthermore, a nonlinear constraint optimization algorithm is used to solve the discretized constraint optimization problem.

[0012] Furthermore, the second-order differential equation for the heave motion of the floating body is:

[0013] (M1+M2)x″1=-(M1+M2)g+ρgA(d-x1)+F0+fcosωt+M3x″1-k1x′1

[0014] Where t represents time, x1 is the displacement of the floating body, x′1 is the velocity of the floating body, x″1 is the acceleration of the floating body, M1 is the mass of the float, M2 is the mass of the oscillator, g is the acceleration due to gravity, ρ is the density of seawater, d is the submerged height of the cylindrical part of the floating body in equilibrium, A is the cross-sectional area, F0 is the buoyancy provided by the conical part at the lower end of the floating body, M3 is the heave-induced mass, f is the amplitude of the wave excitation force, ω is the wave frequency, and k1 is the heave-induced wave damping coefficient.

[0015] Furthermore, the second-order differential equation for the pitching motion of the floating body is:

[0016] -((M1+M2)R 2 +AM)θ″1-c1θ′1-c2θ1+L cosωt=0

[0017] Where M1 is the mass of the float, M2 is the mass of the oscillator, R is the radius of rotation of the float, AM is the additional moment of inertia due to pitching, θ1, θ′1 and θ″1 are the angular displacement, angular velocity and angular acceleration of the float, respectively, L is the amplitude of the wave excitation torque, t represents time and ω is the wave frequency.

[0018] Furthermore, the second-order differential equation for the oscillation motion of the oscillator is:

[0019] M2x″2 / cosθ2=-M2gcosθ2+k3((x1-x2) / cosθ2-x0)-k4(x′2-x′1) / cosθ2

[0020] Where x1 is the displacement of the floating body, x′1 is the velocity of the floating body, x2 is the displacement of the oscillator, x′2 is the velocity of the oscillator, x″2 is the acceleration of the oscillator, M2 is the mass of the oscillator, g is the acceleration due to gravity, θ2 is the angular displacement of the oscillator, x0 is the position of the oscillator in equilibrium, k4 is the damping coefficient of the linear damper, and k3 is the stiffness coefficient of the spring.

[0021] Furthermore, the equation for the pitch displacement of the oscillator is:

[0022] M2(x2+d1) 2 θ″2=k5(θ1-θ2)+k6(θ′1-θ′2)

[0023] Where M2 is the mass of the oscillator, x2 is the displacement of the oscillator, θ1 and θ′ are the angular displacement and angular velocity of the float, respectively, θ2 is the angular displacement of the oscillator, θ′2 is the angular velocity of the oscillator, θ″2 is the angular acceleration of the oscillator, k5 is the stiffness of the torsional spring, k6 is the rotational damping coefficient of the rotational damper, and d1 is the initial rotation radius.

[0024] A second aspect of the invention provides a wave energy output power control system based on the co-oscillation of a buoy and an oscillator, comprising:

[0025] The data acquisition module is configured to acquire parameters of the floating body, oscillator, and environment.

[0026] The calculation module is configured to obtain the damper coefficients, as well as the displacement, velocity and acceleration of pitch and heave motions, by solving a discretized constraint optimization problem based on the parameters of the floating body, oscillator and environment, and then obtain the optimal output power.

[0027] In the constrained optimization problem, the heave motion of the floating body is affected by gravity, seawater buoyancy, wave excitation force, additional inertial force, and wave-making damping force; the pitching motion of the floating body is affected by inertial torque, damping torque, restoring torque, and excitation torque; the heave motion of the oscillator is affected by gravity, the supporting force of the central axis, damping force, and spring force; and the pitching motion of the oscillator is affected by the torsional spring torque, the rotational damper torque, and its own rotational inertial torque.

[0028] A third aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps in the wave energy output power control method based on the co-oscillation of a buoy and an oscillator as described above.

[0029] A fourth aspect of the present invention provides a computer device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps in the wave energy output power control method based on the co-oscillation of a buoy and an oscillator as described above.

[0030] Compared with the prior art, the beneficial effects of the present invention are:

[0031] This invention provides a wave energy output power control method based on the co-oscillation of a float and an oscillator. It performs mechanistic analysis on the heave and pitch of the float and the heave and pitch of the oscillator, respectively, and obtains their respective motion differential equations. It observes the evolution of displacement, velocity, angular displacement, and angular velocity. Based on the working principle of linear dampers and rotary dampers, it obtains a suitable output power objective function and a complete constraint condition control equation. It effectively describes the complete control system for power output under the separate oscillation motions of the float and the oscillator, and captures the energy conversion efficiency of the wave energy device. Attached Figure Description

[0032] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0033] Figure 1 This is a flowchart illustrating the construction of a discretized constrained optimization problem according to Embodiment 1 of the present invention;

[0034] Figure 2 This is a schematic diagram of the force analysis of the heave motion of the floating body in Embodiment 1 of the present invention;

[0035] Figure 3 This is a graph showing the evolution of displacement and velocity of the floating body during heave motion in Embodiment 1 of the present invention;

[0036] Figure 4 This is a schematic diagram of the force analysis of the pitching motion of the floating body in Embodiment 1 of the present invention;

[0037] Figure 5 This is a graph showing the evolution of the angular displacement and angular velocity of the buoy's pitching motion in Embodiment 1 of the present invention;

[0038] Figure 6 This is a schematic diagram of the force analysis of the internal oscillation motion of the oscillator in Embodiment 1 of the present invention;

[0039] Figure 7 This is a force analysis diagram of the pitching motion of the internal oscillator in Embodiment 1 of the present invention;

[0040] Figure 8 This is a graph showing the evolution of displacement and velocity of the heave motion of the internal oscillator in Embodiment 1 of the present invention;

[0041] Figure 9 This is a graph showing the evolution of the angular displacement and angular velocity of the internal oscillator in Embodiment 1 of the present invention.

[0042] Figure 10 This is a comparative evolution diagram of the heave motion of the float and the oscillator in Embodiment 1 of the present invention;

[0043] Figure 11 This is a comparative evolution diagram of the pitching motion of the float and the oscillator in Embodiment 1 of the present invention. Detailed Implementation

[0044] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0045] It should be noted that the following detailed description is illustrative and intended to provide further explanation of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0046] Example 1

[0047] This embodiment provides a wave energy output power control method based on the co-oscillation of a floating body and an oscillator, such as... Figure 1 As shown, the specific steps include the following:

[0048] Step 1: Obtain parameters for the float, oscillator, and environment;

[0049] The parameters related to the float, oscillator, and environment include: float mass M1, oscillator mass M2, seawater density ρ, water immersion height d of the cylindrical part of the float in equilibrium state, cross-sectional area A, buoyancy F0 provided by the conical part at the lower end of the float, heave-added mass M3, wave excitation force amplitude f, wave frequency ω, radius of rotation R of the float, moment of inertia AM of pitching, wave excitation torque amplitude L, torsional spring stiffness k5, and oscillator position x0 in equilibrium state.

[0050] Step 2: Based on the parameters of the floating body, oscillator, and environment, the discretized constraint optimization problem is solved using a nonlinear constraint optimization algorithm to obtain the damper coefficients (k4 and k6) and the displacement, velocity, and acceleration of the pitch and heave motions, thereby obtaining the optimal output power (the power of the linear damper is P1 = f3Δv = k4(x′2 - x′1)). 2 / cos 2 θ2, the power of the torque of the rotating damper is P2=N2Δθ′=k6(θ′2-θ′1) 2 ).

[0051] That is, by using a nonlinear constraint optimization algorithm to solve the discretized constraint optimization problem, the following parameters are obtained: heave wave-making damping coefficient k1, float displacement x1, float velocity x′1, float acceleration x″1, pitch wave-making damping force coefficient c1, still water restoring moment coefficient c2, float angular displacement, angular velocity and angular acceleration θ1, θ′1, θ″1, oscillator displacement x2, oscillator velocity x′2, oscillator acceleration x″2, oscillator angular displacement θ2, oscillator angular velocity θ2′, oscillator angular acceleration θ″2, linear damping coefficient k4, and rotary damping coefficient k6 of the rotary damper.

[0052] Among them, such as Figure 1As shown, the steps to construct the discretized constrained optimization problem are as follows:

[0053] (1) Analysis of the heave motion mechanism of the wave energy device's floating body;

[0054] (2) Analysis of the pitching motion mechanism of the wave energy device's floating body;

[0055] (3) Analysis of the heave-roll coupling motion mechanism of the oscillator part of the wave energy device;

[0056] (4) Establish an optimization model for wave energy output power;

[0057] (5) Based on the objective function and constraints, seek the optimal output power.

[0058] In step (1), such as Figure 2 and Figure 3 As shown, neglecting the coupling effect of pitching and heaving motions on the wave energy device, the heaving motion of the floating body is affected by gravity, seawater buoyancy, wave excitation force, additional inertial force, and wave-making damping force. First, considering the floating body and oscillator as a whole, the device is initially in equilibrium, meaning that the submerged position of the entire wave energy device can be determined by gravity equaling buoyancy, and this position is taken as the initial position of the overall motion. Let the displacement of the wave energy device's heaving motion be x1(t), and define upward heaving as the positive direction. From Newton's second law, we can obtain:

[0059] (M1+M2)x″1=F1+F2+F3+F4+F5

[0060] Among them, gravity F1 is vertically downward; buoyancy F2 is vertically upward; when the buoy accelerates upward, wave excitation force F3 provides a vertically upward force; additional inertial force F4 is the extra force required for the buoy to gain acceleration in the seawater; wave-making damping force F5 is proportional to the velocity and in the opposite direction. The expressions for each force are:

[0061] F1=-(M1+M2)g, F2=ρgA(d-x1)+F0, F3=fcosωt,

[0062] F4 = M3x″1, F5 = -k1x′1

[0063] Where t represents time, M1 is the mass of the float, M2 is the mass of the oscillator, ρ is the density of seawater, d is the submerged height of the cylindrical part of the float in equilibrium, A is the cross-sectional area, F0 is the buoyancy provided by the conical part at the lower end of the float, M3 is the heave-induced mass, f is the amplitude of the wave excitation force, ω is the wave frequency, and k1 is the heave-induced wave damping coefficient. The float is initially in equilibrium in still water, with both initial displacement and initial velocity set to 0. The second-order differential equation of the heave motion of the float is obtained as follows:

[0064] (M1+M2)x′1=-(M1+M2)g+ρgA(d-x1)+F0+f cosωt+M3x′1-k1x′1

[0065] x1(0)=0,x′1(0)=0

[0066] Where x1(0) is the initial displacement of the floating body; x′1(0) is the initial velocity of the floating body; x′1 is the velocity of the floating body, i.e., the derivative of the displacement x1; x″1 is the acceleration of the floating body, i.e., the second derivative of the displacement; and g is the gravitational acceleration.

[0067] Let v1 = x′1(t), then the above equation is transformed into an equivalent system of first-order equations concerning the velocity and displacement of the floating body:

[0068]

[0069] x1(0)=0, v1(0)=0

[0070] In step (2), such as Figure 4 and Figure 5 As shown, considering that seawater is inviscid and irrotational, i.e., neglecting the effects of frictional damping and vortex damping, the floating body is affected by inertial torque, damping torque, restoring torque, and excitation torque during its pitching motion. According to the law of conservation of energy, the sum of the torques acting on the entire system should be zero. That is, the sum of the inertial torque, damping torque, restoring torque, and excitation torque of the floating body is zero. Assuming the initial equilibrium position angle of the wave energy device is 0 degrees and the angular displacement of the floating body's pitching motion is θ1(t), then the inertial torque can be expressed as:

[0071] T1=-((M1+M2)R 2 +AM)θ″1

[0072] Where R is the radius of rotation of the floating body, and AM is the additional moment of inertia due to pitching.

[0073] The pitch wave damping torque is proportional to the pitch angular velocity but in the opposite direction, i.e., T2 = -c1θ′1, where c1 is the pitch wave damping force coefficient.

[0074] The still water restoring torque is proportional to the angle of rotation of the buoy relative to the still water surface, i.e., T3 = -c2θ1, where c2 is the still water restoring torque coefficient.

[0075] Let the excitation torque of the wave be T4 = Lcosωt, where L is the amplitude of the excitation torque of the wave.

[0076] The floating body is initially in equilibrium in still water, with both initial angular displacement and initial angular velocity being 0, i.e., θ1(0) = 0, θ′1(0) = 0. The second-order differential equation for the floating body's pitching motion is obtained as follows:

[0077] -((M1+M2)R2 +AM)θ′1-c1θ′1-c2θ1+Lcosωt=0

[0078] Let w1 = θ′1(t) be the angular velocity of the floating body, then the above equation is transformed into an equivalent system of equations concerning the angular velocity and angular displacement of the floating body:

[0079]

[0080] Where θ1, θ′1 and θ″1 are the angular displacement, angular velocity and angular acceleration of the floating body, respectively.

[0081] In step (3), such as Figure 6 , Figure 7 , Figure 8 and Figure 9 As shown, let the heave displacement of the oscillator be x2(t), and the angular displacement of the oscillator's pitching motion be θ2(t). During the pitching process, the oscillator is affected by gravity, the supporting force of the central axis, the damping force, and the spring force. Applying Newton's second law along the direction of the oscillator's movement along the central axis, we can obtain:

[0082] M2x″2 / cosθ2=f1+f2+f3

[0083] Where x2 is the displacement of the oscillator, x′2 is the velocity of the oscillator, and x″2 is the acceleration of the oscillator.

[0084] The component of gravity along the central axis, f1, is: f1 = -M2gcosθ2;

[0085] The spring force f2 is related to the direction of spring compression and extension: f2=k3((x1-x2) / cosθ2-x0), where x0 is the position of the oscillator in equilibrium and k3 is the stiffness coefficient of the spring;

[0086] The damping force f3 of the linear damper is proportional to the relative velocity of the float and the oscillator: f3=-k4(x′2-x′1) / cosθ2, where k4 is the damping coefficient of the linear damper.

[0087] The second-order differential equation for the oscillator's heave motion was obtained:

[0088] M2x″2 / cosθ2=-M2g cosθ2+k3((x1-x2) / cosθ2-x0)-k4(x′2-x′1) / cosθ2

[0089] Where θ2 is the angular displacement of the oscillator, θ′2 is the angular velocity of the oscillator, and θ″2 is the angular acceleration of the oscillator.

[0090] During the pitching process of the oscillator, it is affected by the torque of the torsional spring, the torque of the rotary damper, and its own rotational moment of inertia. The torsional spring torque N1 is proportional to the relative angular displacement of the float and the oscillator, i.e., N1 = k5(θ1 - θ2), where k5 is the torsional spring stiffness. The rotary damper torque N2 is proportional to the relative angular velocity of the float and the oscillator, i.e., N2 = k6(θ′1 - θ′2), where k6 is the rotational damping coefficient of the rotary damper. Its own rotational moment of inertia torque N3 = M2(x2 + d1) 2 θ″2, where d1 is the initial radius of rotation. According to the law of conservation of torque, the equation for the pitch displacement of the oscillator can be obtained as follows:

[0091] M2(x2+d1) 2 θ″2=k5(θ1-θ2)+k6(θ′1-θ′2)

[0092] The oscillator is initially in equilibrium in still water, with its initial displacement, velocity, angular displacement, and angular velocity all set to 0, i.e.:

[0093] x2(0)=x0, x′2(0)=0, θ2(0)=0, θ′2(0)=0

[0094] The coupled equations for the oscillation displacement and pitch displacement of the oscillator are obtained as follows:

[0095]

[0096] In step (4), the wave energy device, in which the float and oscillator oscillate together, outputs energy through the relative motion of the float and oscillator, and the combined work of the linear damper and the rotary damper. The linear damper does work due to the relative motion of the oscillator on the central axis, so the power is P1=f3Δv=k4(x′2-x′1). 2 / cos 2 θ2, where Δv represents the relative velocity. The torque of the rotating damper is proportional to the relative angular velocity of the floating oscillator: N2 = k6(θ′1 - θ′2). The power of the torque is equal to the product of the torque and the angular velocity, i.e., P2 = N2Δθ = k6(θ′2 - θ′1). 2 Therefore, the objective function is the following integral equation:

[0097]

[0098] The constraints are:

[0099] (M1+M2)x″1=-(M1+M2)g+ρgA(d-x1)+F0+fcosωt+M3x″1-k1x1

[0100] -((M1+M2)R 2 +AM)θ″1-c1θ′1-c2θ1+L cosωt=0

[0101] M2x″2 / cosθ2=-M2gcosθ2+k3((x1-x2) / cosθ2-x0)-k4(x′2-x′1) / cosθ2

[0102] M2(x2+d1) 2 θ″2=k5(θ1-θ2)+k6(θ1-θ2)

[0103] x1(0)=0,x′1(0)=0,θ1(0)=0,θ′1(0)=0

[0104] x2(0)=x0,x′2(0)=0,θ2(0)=0,θ′2(0)=0

[0105] In step (5), the constraints are transformed into a first-order equivalent form. Let w2 = θ′2(t) be the angular velocity of the oscillator, and the desired discrete optimization model is obtained as follows:

[0106]

[0107] satisfy

[0108]

[0109] Wherein, K1 and K2 represent the threshold values ​​of the damping coefficients of the linear damper and the rotary damper, respectively.

[0110] Figure 10 and Figure 11 It shows a comparative evolution diagram of the heave motion of the floating body and the oscillator, as well as a comparative evolution diagram of the pitch motion of the floating body and the oscillator.

[0111] Discretization of the objective function:

[0112] The objective function is discretized using numerical integration. In this embodiment, trapezoidal numerical integration is used to discretize it in the time direction, dividing T into N parts, t i Let τ represent the i-th time point, where the time interval τ = T / N. The time derivatives of the constraint equations require numerical differentiation and discretization; in this example, backward Euler finite difference discretization is used for each time interval. The final discretized constraint optimization problem is obtained as follows:

[0113]

[0114]

[0115] When the time is divided into N parts, there are a total of 8N+10 constraint equations. A nonlinear constraint optimization algorithm is used to solve these equations and find the optimal output power.

[0116] Example 2

[0117] This embodiment provides a wave energy output power control system based on the co-oscillation of a buoy and an oscillator, which specifically includes:

[0118] The data acquisition module is configured to acquire parameters of the floating body, oscillator, and environment.

[0119] The calculation module is configured to obtain the damper coefficients, as well as the displacement, velocity and acceleration of pitch and heave motions, by solving a discretized constraint optimization problem based on the parameters of the floating body, oscillator and environment, and then obtain the optimal output power.

[0120] In the constrained optimization problem, the heave motion of the floating body is affected by gravity, seawater buoyancy, wave excitation force, additional inertial force, and wave-making damping force; the pitching motion of the floating body is affected by inertial torque, damping torque, restoring torque, and excitation torque; the heave motion of the oscillator is affected by gravity, the supporting force of the central axis, damping force, and spring force; and the pitching motion of the oscillator is affected by the torsional spring torque, the rotational damper torque, and its own rotational inertial torque.

[0121] It should be noted that each module in this embodiment corresponds one-to-one with each step in Embodiment 1, and their specific implementation processes are the same, so they will not be repeated here.

[0122] Example 3

[0123] This embodiment provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps in the wave energy output power control method based on the co-oscillation of a buoy and an oscillator as described in Embodiment 1 above.

[0124] Example 4

[0125] This embodiment provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the steps in the wave energy output power control method based on the co-oscillation of a buoy and an oscillator as described in Embodiment 1 above.

[0126] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of hardware embodiments, software embodiments, or embodiments combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage and optical storage) containing computer-usable program code.

[0127] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0128] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0129] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0130] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc.

[0131] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A wave energy output power control method based on the co-oscillation of a floating body and an oscillator, characterized in that, include: Acquire parameters for the floating body, oscillator, and environment; Based on the parameters of the floating body, oscillator, and environment, a nonlinear constrained optimization algorithm is used to solve the discretized constrained optimization problem. This yields the damper coefficients, as well as the displacement, velocity, and acceleration of the pitch and heave motions, ultimately determining the optimal output power. The power of the linear damper is... The power of the torque of the rotating damper ,in, This is the damping coefficient of the linear damper. The rotational damping coefficient of the rotational damper. For the angular displacement of the oscillator, Let ω be the angular velocity of the oscillator. Let ω be the angular velocity of the floating body. For the oscillator velocity, The velocity of the floating body; In the constrained optimization problem, the heave motion of the floating body is affected by gravity, seawater buoyancy, wave excitation force, additional inertial force, and wave-making damping force; the pitching motion of the floating body is affected by inertial torque, damping torque, restoring torque, and excitation torque; the heave motion of the oscillator is affected by gravity, the supporting force of the central axis, damping force, and spring force; and the pitching motion of the oscillator is affected by the torsional spring torque, the rotational damper torque, and its own rotational inertial torque. The objective function is the following integral equation: Where T is time; in the discretization of the constrained optimization problem, the objective function is discretized in the form of numerical integration, using trapezoidal numerical integration, and discretized in the time direction, dividing T into N parts.

2. The wave energy output power control method based on the co-oscillation of a buoy and an oscillator as described in claim 1, characterized in that, The time derivatives of the constraint equations are discretized using numerical differentiation.

3. The wave energy output power control method based on the co-oscillation of a buoy and an oscillator as described in claim 1, characterized in that, A nonlinear constraint optimization algorithm is used to solve the discretized constraint optimization problem.

4. The wave energy output power control method based on the co-oscillation of a buoy and an oscillator as described in claim 1, characterized in that, The second-order differential equation for the heave motion of the floating body is: in, t Indicates time, For the displacement of the floating body, Let the velocity of the floating body be denoted as . It is the acceleration of the floating body. For the mass of the float, For the mass of the oscillator, g It is the acceleration due to gravity. The density of seawater, The water immersion height of the cylindrical portion of the float in equilibrium state. For cross-sectional area, The buoyancy provided to the lower conical section of the float. Add mass to the heave. The amplitude of the wave excitation force. For wave frequency, is the damping coefficient for heave-induced waves.

5. The wave energy output power control method based on the co-oscillation of a buoy and an oscillator as described in claim 1, characterized in that, The second-order differential equation for the pitching motion of the floating body is: in, For the mass of the float, For the mass of the oscillator, Let be the radius of rotation of the floating body. The added moment of inertia for pitching, , and These are the angular displacement, angular velocity, and angular acceleration of the floating body, respectively. The amplitude of the wave excitation torque. t Indicates time, The wave frequency.

6. The wave energy output power control method based on the co-oscillation of a buoy and an oscillator as described in claim 1, characterized in that, The second-order differential equation for the oscillator's heave motion is: in, For the displacement of the floating body, Let the velocity of the floating body be denoted as . For the displacement of the oscillator, For the oscillator velocity, For the acceleration of the oscillator, For the mass of the oscillator, g It is the acceleration due to gravity. For the angular displacement of the oscillator, The position of the oscillator in equilibrium. This is the damping coefficient of the linear damper. k 3 represents the stiffness coefficient of the spring.

7. The wave energy output power control method based on the co-oscillation of a buoy and an oscillator as described in claim 1, characterized in that, The equation for the pitch displacement of the oscillator is: in, For the mass of the oscillator, For the displacement of the oscillator, and These are the angular displacement and angular velocity of the floating body, respectively. For the angular displacement of the oscillator, Let ω be the angular velocity of the oscillator. Let ω be the angular acceleration of the oscillator. To increase the stiffness of the torsional spring, The rotational damping coefficient of the rotational damper. d 1 represents the initial radius of rotation.

8. A wave energy output power control system based on the co-oscillation of a floating body and an oscillator, characterized in that, include: The data acquisition module is configured to acquire parameters of the floating body, oscillator, and environment. The calculation module is configured to: solve the discretized constraint optimization problem based on the parameters of the floating body, oscillator, and environment using a nonlinear constraint optimization algorithm; obtain the damper coefficients, and the displacement, velocity, and acceleration of the pitch and heave motions; and thus obtain the optimal output power. The power of the linear damper is... The power of the torque of the rotating damper ,in, This is the damping coefficient of the linear damper. The rotational damping coefficient of the rotational damper. For the angular displacement of the oscillator, Let ω be the angular velocity of the oscillator. Let ω be the angular velocity of the floating body. For the oscillator velocity, The velocity of the floating body; In the constrained optimization problem, the heave motion of the floating body is affected by gravity, seawater buoyancy, wave excitation force, additional inertial force, and wave-making damping force; the pitching motion of the floating body is affected by inertial torque, damping torque, restoring torque, and excitation torque; the heave motion of the oscillator is affected by gravity, the supporting force of the central axis, damping force, and spring force; and the pitching motion of the oscillator is affected by the torsional spring torque, the rotational damper torque, and its own rotational inertial torque. The objective function is the following integral equation: Where T is time; in the discretization of the constrained optimization problem, the objective function is discretized in the form of numerical integration, using trapezoidal numerical integration, and discretized in the time direction, dividing T into N parts.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the steps in the wave energy output power control method based on the co-oscillation of a buoy and an oscillator as described in any one of claims 1-7.

10. A computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the steps in the wave energy output power control method based on the co-oscillation of a buoy and an oscillator as described in any one of claims 1-7.

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