Self-lifting intelligent control method of wave energy power generation device

Abstract

The present application relates to a kind of self-lifting intelligent control method of wave energy power generation device, comprising: S1, according to the measurement signal of water level gauge, the vertical position of wave energy collection device is adjusted by lifting control system, so that the float is in the optimal position of maximum energy utilization efficiency, optimal position refers to the position that the float is in the lowest position of piston rod and is consistent with the height of wave trough, if the maximum activity range of float cannot reach wave trough position, then the optimal position is the position that the float is in the lowest position of piston rod and is closest to wave trough;S2, according to the measurement signal of clinometer, the horizontal posture of wave energy collection device is adjusted by lifting control system, so that wave energy collection device is as a whole on horizontal plane.The present application can automatically adjust wave energy collection device to the optimal wave energy power generation position, effectively improve the energy conversion efficiency of wave energy collection device;While being able to automatically adjust the horizontal posture of wave energy collection device, avoid happening to incline, with good safety and stability.

Description

Technical Field

[0001] This invention belongs to the field of ocean energy power generation technology, and specifically relates to a self-lifting intelligent control method for wave energy power generation devices. Background Technology

[0002] With the development of marine resources, the demand for marine platforms is increasing, making the research and development of wave energy harvesting devices for marine platforms with high wave energy utilization efficiency particularly important. In the complex and ever-changing marine environment, platforms need to improve their energy utilization efficiency through intelligent automatic raising and lowering. However, traditional wave energy harvesting devices generally suffer from problems such as unstable raising and lowering and low power generation efficiency.

[0003] Therefore, there is an urgent need to design a control method that can intelligently and automatically adjust the vertical position of wave energy, while ensuring its control accuracy and safety stability. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to address the shortcomings of the existing wave energy collection device, such as unstable lifting and lowering and low power generation efficiency. The invention provides a self-lifting intelligent control method for wave energy power generation device, which automatically lifts and lowers the device by real-time sensing of water level and intelligently adjusts the vertical position of the wave energy collection device to achieve the best wave energy power generation efficiency, thereby realizing high stability, intelligence and high efficiency of the marine platform.

[0005] The technical solution adopted by the present invention to solve the above-mentioned technical problems is as follows:

[0006] A self-lifting intelligent control method for a wave energy power generation device, the wave energy power generation device including a platform support, a wave energy acquisition device, and a lifting control system, the wave energy power generation device also including a water level gauge and an inclinometer, the water level gauge being installed on the platform support, and the inclinometer being installed on the horizontal frame of the wave energy acquisition device; both the water level gauge and the inclinometer are signal-connected to the lifting control system, and the lifting control system adjusts the vertical position and horizontal attitude of the wave energy acquisition device according to its measurement signals using the self-lifting intelligent control method; the self-lifting intelligent control method includes the following steps:

[0007] S1. Based on the measurement signal of the water level gauge, adjust the vertical position of the wave energy collection device through the lifting control system so that the float is in the optimal position with the greatest energy utilization efficiency. The optimal position refers to the position where the float is at the lowest position of the piston rod and the height of the wave trough is the same. If the maximum range of motion of the float cannot reach the wave trough, the optimal position is the position where the float is at the lowest position of the piston rod and is closest to the wave trough.

[0008] S2. Based on the measurement signal from the inclinometer, adjust the horizontal attitude of the wave energy acquisition device through the lifting control system so that the entire wave energy acquisition device is on a horizontal plane.

[0009] In the above scheme, the platform support includes a horizontal frame and a vertical guide rail installed below the horizontal frame. The wave energy harvesting device includes a tubing frame and several array float units installed below the tubing frame. The tubing frame is installed below the horizontal frame and can move up and down along the vertical guide rail under the drive of the lifting control system. Assume the maximum lowering height of the wave energy harvesting device is h, the thickness of the float is d, the maximum length of the piston rod is l, and the height from the bottom of the tubing frame to the bottom of the hydraulic cylinder is h. c Using the center point of the float as a reference point for the float's position, the maximum range of motion of the float relative to the horizontal frame is: Assuming the distance from the bottom of the horizontal frame to the wave trough is D, and the optimal location of the wave energy harvesting device is represented by the distance L between the tubing frame and the horizontal frame, then:

[0010] when hour,

[0011] when At that time, L = h.

[0012] In the above scheme, the water level gauge is an electric contact water level gauge, which is installed on the outside of the vertical guide rail. The electric contact water level gauge includes multiple conductive electrodes installed at different depths. When water immerses two or more electrodes, the electrodes conduct electricity through the water, thereby obtaining an electrical signal of the water level height. The wave height is determined by monitoring the range of water level height changes, and the average value of the water level height changes is taken as the water level height.

[0013] In the above scheme, the water surface height and wave height are collectively referred to as water level signals, and each water level signal corresponds to the optimal position of a wave energy acquisition device; the water level signal is measured once every set time, and the wave energy acquisition device is adjusted to the corresponding optimal position.

[0014] In the above scheme, the wave energy power generation device also includes a motor installed on the horizontal frame. The motor is connected to the oil pipe frame of the wave energy acquisition device through a cable. When the lifting control system converts the water level signal into the optimal position signal of the wave energy acquisition device, it converts the optimal position signal into the control signal of the motor. By controlling the direction, speed and running time of the motor, the wave energy acquisition device can be pulled up or lowered.

[0015] In the above scheme, there are four motors, one installed at each of the four corners of the horizontal frame, and each motor has a connection point at the corresponding position of its lower oil pipe frame; the wave energy generation device also includes speed sensors, one of which is installed next to each of the four connection points of the oil pipe frame; the lifting control system inputs the ideal vertical displacement and the actual vertical displacement of the wave energy acquisition device, and uses a fuzzy controller to output real-time control signals for the motors to complete the adjustment of the vertical position of the wave energy acquisition device.

[0016] The above scheme, which utilizes a fuzzy controller to output real-time control signals for the motor, specifically includes the following steps:

[0017] Step 1: Convert the optimal position signal into an ideal vertical displacement signal X for the wave energy acquisition device. A This includes the motor's direction signal and ideal speed signal; and the actual speed V of the wave energy harvesting device detected by four speed sensors. R1 V R2 V R3 V R4 The true velocity V is obtained by averaging the values. R This is then converted into the corresponding displacement signal, i.e., the actual velocity V of the wave energy acquisition device. R The true vertical displacement X of the wave energy harvesting device is obtained by integration. R ;

[0018] Step 2: Due to engineering errors, the actual rotational speed V of each motor E1 V E2 V E3 V E4 and ideal rotational speed V A1 V A2 V A3 V A4 The deviation resulted in the final vertical displacement X of the wave energy acquisition device. R With ideal vertical displacement X A Since there is a deviation, the displacement error signal between the two motors is fed back through a fuzzy controller to correct the speed of each motor, and the corrected speed V of the four motors is output. D1 V D2 V D3 V D4 The control model for correcting the motor speed can be expressed as:

[0019] V D =K D ×∫0 t (V E -V A )dt / tC R ×V R

[0020] Among them, K D and C R V is the model correction coefficient. D V is the corrected speed of the motor. E V represents the actual rotational speed of the motor. A V is the ideal rotational speed of the motor. R t represents the actual velocity of the wave energy harvesting device;

[0021] Step 3: Further refine the actual vertical displacement X of the wave energy acquisition device after correcting the rotational speed. D With ideal vertical displacement X A Error analysis is performed, and the speed of each motor is further corrected using a fuzzy controller until the actual vertical displacement matches the ideal vertical displacement.

[0022] In the above scheme, one motor is selected as the main motor, and the other three motors are selected as secondary motors. The connection point corresponding to the position of the main motor is used as the reference point, and the horizontal plane where the reference point is located is used as the reference plane. An inclinometer is installed on each of the three sides of the tubing frame to measure the inclination angle between that side and the horizontal reference plane. S2 includes:

[0023] S2.1 Obtaining the horizontal attitude adjustment signal: Converting the tilt angle signals measured by the three inclinometers into ideal vertical displacement signals X between the remaining three connection points and the reference plane. A2 ′、X A3 ′、X A4 This allows us to obtain control signals for three secondary motors, including the motor's direction signal and ideal speed signal.

[0024] S2.2 Adjust the horizontal attitude of the wave energy harvesting device: Adjust the actual rotational speed V of the three secondary motors. E2 ′、V E3 ′、V E4 Convert ′ to the corresponding true vertical displacement X E2 ′、X E3 ′、X E4 The fuzzy controller feeds back the displacement error signal between the ideal vertical displacement and the actual vertical displacement, and corrects the motor speed by V. D2 ′、V D3 ′、V D4 After correction, the actual vertical displacement is compared with the ideal vertical displacement, and the speed of each motor is corrected using a fuzzy controller until the actual vertical displacement matches the ideal vertical displacement.

[0025] In the above scheme, the method for obtaining the vertical distance signal in S2.1 is as follows: Assuming the connection points of the four corners of the tubing frame are A, B, C, and D, with the location of point A as the reference point and the plane where point A is located as the reference plane, three inclinometers are distributed on sides AB, BC, and AD, and the measured tilt angles are α, β, and γ, respectively; assuming the lengths of the short side and the long side of the tubing frame are m and n, respectively, then the vertical offset of point B is b = mtanα, the vertical offset of point C is c = ntanβ + mtanα, and the vertical offset of point D is d = ntanγ; then the three vertical distance signals are transmitted to the secondary motors corresponding to points B, C, and D, respectively.

[0026] The beneficial effects of this invention are as follows:

[0027] 1. The control method of the present invention can automatically adjust the wave energy harvesting device to the optimal wave energy generation position, effectively improving the energy conversion efficiency of the wave energy harvesting device; at the same time, it can automatically adjust the horizontal attitude of the wave energy harvesting device to avoid tilting, and has good safety and stability.

[0028] 2. The control method of this invention uses a fuzzy controller to control the motor of the intelligent lifting platform, which has high control accuracy and good robustness. Attached Figure Description

[0029] The present invention will be further described below with reference to the accompanying drawings and embodiments. In the accompanying drawings:

[0030] Figure 1 This is a schematic diagram of the structure of the wave energy power generation device, the controlled object of the method of the present invention;

[0031] Figure 2 yes Figure 1 A magnified view of a portion of the wave energy generation device A shown in the diagram.

[0032] Figure 3 yes Figure 1 A schematic diagram showing the dimensions of the wave energy generation device.

[0033] Figure 4 This is a flowchart of the lifting control method based on a fuzzy controller in the present invention.

[0034] Figure 5 This is a schematic diagram illustrating the conversion of the tilt angle signal into a vertical distance signal in the method of this invention.

[0035] In the diagram: 1. Water level gauge; 2. Motor; 3. Lifting control system; 4. Wave energy acquisition device; 401. Oil pipe frame; 402. Hydraulic cylinder; 403. Vertical shaft; 404. Piston rod; 405. Float; 5. Platform support; 501. Horizontal frame; 502. Vertical guide rail; 503. Base; 6. Drum; 7. Cable; 8. Inclinometer. Detailed Implementation

[0036] To provide a clearer understanding of the technical features, objectives, and effects of the present invention, specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0037] like Figure 1-2 The diagram shows the wave energy generation device controlled by the method of the present invention, comprising a platform support 5, a wave energy acquisition device 4, a lifting control system 3, a motor 2, a drum 6, cables 7, a water level gauge 1, and an inclinometer 8. The platform support 5 consists of a horizontal frame 501, a vertical guide rail 502, and a base 503. The lifting control system 3, motor 2, drum 6, etc., are mounted on the horizontal frame 501. The horizontal frame 501 can be welded to or overlapped with the offshore platform. The vertical guide rail is installed below the horizontal frame 501, and only the horizontal frame 501 is above sea level. The platform support 5 provides support and safety for the entire wave energy generation device. The wave energy harvesting device 4 consists of a tubing frame 401, a hydraulic cylinder 402, a vertical shaft 403, a piston rod 404, and a float 405. The tubing frame 401 is installed below the horizontal frame 501 and can move up and down along the vertical guide rail under the drive of the lifting control system 3. The tubing frame 401 is connected to the vertical shaft 403, and the hydraulic cylinder 402, piston rod 404, and float 405 are connected in sequence. By moving the float vertically with the waves, the mechanical energy of the piston rod 404 is converted into the pressure energy of the hydraulic oil. Subsequently, the hydraulic motor and generator can collect the pressure energy obtained by multiple array floats and convert it into electrical energy, which is then connected to the grid via an external cable to generate electricity (the hydraulic motor and generator are not shown in the figure). The lifting control system 3 controls the rotation speed and direction of the motor 2. The motor 2 controls the vertical position and adjusts the horizontal attitude of the wave energy harvesting device 4 by retracting and extending the cable 7 connected to the wave energy harvesting device 4. The water level gauge 1 is installed on the platform support 5, and the inclinometer 8 is installed on the horizontal frame 501 of the wave energy acquisition device. Both the water level gauge 1 and the inclinometer 8 are connected to the lifting control system 3. The lifting control system 3 adjusts the vertical position and horizontal attitude of the wave energy acquisition device 4 according to its measurement signal using a self-lifting intelligent control method.

[0038] This invention proposes a self-lifting intelligent control method for the aforementioned wave energy power generation device, comprising the following steps:

[0039] S1. Based on the measurement signal from the water level gauge, adjust the vertical position of the wave energy harvesting device through the lifting control system to place the float in the optimal position with the highest energy utilization efficiency. The optimal position refers to the position where the wave energy harvesting device obtains the maximum energy utilization rate. S1 specifically includes the following steps:

[0040] S1.1 Determine the input wave power and energy utilization rate of the wave energy harvesting device. First, assign P to the input wave power and energy utilization rate of the wave energy harvesting device respectively.E And η is characterized. η can be expressed as the effective input wave energy W over a time period t. E With total wave energy W A The ratio; it can also be expressed as the input wave power P per unit time. E With total wave power P A The ratio, that is:

[0041]

[0042] Based on the theory of small-amplitude regular waves, the average wave power per crest width within a unit wavelength domain can be expressed as:

[0043]

[0044] Where E represents the total wave kinetic and potential energy per unit wavelength within the flow domain; C g ρ represents wave group velocity; g represents fluid density; A represents gravitational acceleration; k represents wave number, which is the number of waves within a distance of 2π; h1 represents the vertical distance from the sea surface to the calm wave surface; and c1 represents wave speed, which is the speed at which the wave travels in one direction.

[0045] The average wave energy (i.e., total wave power P) over one period A This can be represented as:

[0046] P A =d1P W

[0047] Where d1 is the width of the captured peak.

[0048] The average input wave power of the wave energy harvesting device over one cycle can be expressed as:

[0049]

[0050] Where T represents one period of the micro-amplitude wave, a represents the number of array floats within the wave crest width D, m represents the mass of a single float, g represents the gravitational acceleration, H represents the height position of the float, F represents the force on the hydraulic cylinder piston rod, and v represents the movement speed of the hydraulic cylinder piston rod.

[0051] S1.2 Determine the optimal floating range of the float. According to the above formula, to obtain the best wave energy generation efficiency, the float height change needs to be at its maximum, and the integral of the force on the hydraulic cylinder piston rod over the cycle needs to reach its maximum value. That is, when the float is at the lowest position of the piston rod, it should be at the same height as the wave trough, thus obtaining the optimal floating range of the float. If the maximum range of motion of the float cannot reach the wave trough, then the optimal position is the position closest to the wave trough when the float is at the lowest position of the piston rod.

[0052] like Figure 3 As shown, assume the maximum lowering height of the wave energy harvesting device is h, the thickness of the float is d, the maximum length of the piston rod is l, and the height from the bottom of the oil pipe frame to the bottom of the hydraulic cylinder is h. c Using the center point of the float as a reference point for the float's position, the maximum range of motion of the float relative to the horizontal frame is:

[0053] S1.3 Determining Water Surface Height and Wave Height. The water level gauge is an electrical contact level gauge, installed on the outside of a vertical guide rail. The electrical contact level gauge includes multiple conductive electrodes installed at different depths. When water immerses two or more electrodes, electricity is conducted between them through the water, thus obtaining an electrical signal indicating the water surface height. The wave height is determined by monitoring the range of water surface height changes, and the average value of these changes is taken as the water surface height. Water surface height and wave height are collectively referred to as the water level signal, and each water level signal corresponds to the optimal location of a wave energy acquisition device.

[0054] S1.4 Determine the optimal location of the wave energy harvesting device. Assuming the distance from the bottom of the horizontal frame to the wave trough is D, the optimal location of the wave energy harvesting device is represented by the distance L between the tubing frame and the horizontal frame, then:

[0055] when hour,

[0056] when At that time, L = h.

[0057] S1.5 Adjust the vertical position of the wave energy acquisition device. After the lifting control system converts the water level signal into the optimal position signal of the wave energy acquisition device, it converts the optimal position signal into a motor control signal. By controlling the motor's direction, speed, and running time, the wave energy acquisition device is pulled up or lowered. The water level signal is measured every set time (e.g., fifteen minutes), and the wave energy acquisition device is adjusted to the corresponding optimal position.

[0058] The device comprises four motors, one at each of the four corners of the horizontal frame, with a connection point between each motor and its corresponding position on the lower oil pipe frame. The wave energy generation device also includes speed sensors, one of which is located next to each of the four connection points on the oil pipe frame. The lifting control system inputs the ideal and actual vertical displacements of the wave energy acquisition device and uses a fuzzy controller to output real-time control signals to the motors, thereby adjusting the vertical position of the wave energy acquisition device. The method of using a fuzzy controller to output real-time control signals to the motors specifically includes the following steps:

[0059] Step 1: Convert the optimal position signal into an ideal vertical displacement signal X for the wave energy acquisition device. AThis includes the motor's direction signal and ideal speed signal; and the actual speed V of the wave energy harvesting device detected by four speed sensors. R1 V R2 V R3 V R4 The true velocity V is obtained by averaging the values. R This is then converted into the corresponding displacement signal, i.e., the actual velocity V of the wave energy acquisition device. R The true vertical displacement X of the wave energy harvesting device is obtained by integration. R ;

[0060] Step 2: Due to engineering errors, the actual rotational speed V of each motor E1 V E2 V E3 V E4 and ideal rotational speed V A1 V A2 V A3 V A4 The deviation resulted in the final vertical displacement X of the wave energy acquisition device. R With ideal vertical displacement X A Since there is a deviation, the displacement error signal between the two motors is fed back through a fuzzy controller to correct the speed of each motor, and the corrected speed V of the four motors is output. D1 V D2 V D3 V D4 The control model for correcting the motor speed can be expressed as:

[0061] V D =K D ×∫0 t (V E -V A )dt / tC R ×V R

[0062] Among them, K D and C R V is the model correction coefficient. D V is the corrected speed of the motor. E V represents the actual rotational speed of the motor. A V is the ideal rotational speed of the motor. R t represents the actual velocity of the wave energy harvesting device;

[0063] Step 3: Further refine the actual vertical displacement X of the wave energy acquisition device after correcting the rotational speed. D With ideal vertical displacement X AError analysis is performed, and the speed of each motor is further corrected using a fuzzy controller until the actual vertical displacement matches the ideal vertical displacement.

[0064] S2. Based on the measurement signal from the inclinometer, adjust the horizontal attitude of the wave energy acquisition device through the lifting control system so that the entire wave energy acquisition device is on a horizontal plane.

[0065] Select one motor as the main motor and the other three motors as secondary motors. Use the connection point corresponding to the main motor's position as the reference point, and the horizontal plane containing the reference point as the reference plane. Install an inclinometer on each of the three sides of the tubing frame to measure the inclination angle between that side and the horizontal reference plane. Step 2 specifically includes:

[0066] S2.1 Obtaining the horizontal attitude adjustment signal: Converting the tilt angle signals measured by the three inclinometers into ideal vertical displacement signals X between the remaining three connection points and the reference plane. A2 ′、X A3 ′、X A4 This allows us to obtain control signals for three secondary motors, including the motor's direction signal and ideal speed signal.

[0067] like Figure 5 As shown, the method for obtaining the vertical distance signal is as follows: Assume that the connection points at the four corners of the tubing frame are A, B, C, and D, respectively. Taking the location of point A as the reference point and the plane where point A is located as the reference plane, three inclinometers are distributed on sides AB, BC, and AD, and the measured tilt angles are α, β, and γ, respectively. Assume that the lengths of the short side and the long side of the tubing frame are m and n, respectively. Then, the vertical offset of point B is b = mtanα, the vertical offset of point C is c = ntanβ + mtanα, and the vertical offset of point D is d = ntanγ. Then, the three vertical distance signals are transmitted to the secondary motors corresponding to points B, C, and D, respectively.

[0068] S2.2 Adjust the horizontal attitude of the wave energy harvesting device: Adjust the actual rotational speed V of the three secondary motors. E2 ′、V E3 ′、V E4 Convert ′ to the corresponding true vertical displacement X E2 ′、X E3 ′、X E4 The fuzzy controller feeds back the displacement error signal between the ideal vertical displacement and the actual vertical displacement, and corrects the motor speed by V. D2 ′、V D3 ′、V D4 After correction, the actual vertical displacement is compared with the ideal vertical displacement, and the speed of each motor is corrected using a fuzzy controller until the actual vertical displacement matches the ideal vertical displacement.

[0069] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

Claims

1. A self-lifting intelligent control method for a wave energy power generation device, the wave energy power generation device comprising a platform support, a wave energy acquisition device, and a lifting control system, the platform support comprising a horizontal frame and a vertical guide rail installed below the horizontal frame, the wave energy acquisition device comprising a tubing frame and a plurality of arrayed float units installed below the tubing frame, the tubing frame being installed below the horizontal frame and capable of lifting along the vertical guide rail under the drive of the lifting control system; characterized in that... The wave energy generation device also includes a water level gauge and an inclinometer. The water level gauge is installed on the platform support, and the inclinometer is installed on the horizontal frame of the wave energy acquisition device. Both the water level gauge and the inclinometer are connected to the lifting control system. The lifting control system adjusts the vertical position and horizontal attitude of the wave energy acquisition device according to its measurement signals using a self-lifting intelligent control method. The wave energy generation device also includes four motors installed at the four corners of the horizontal frame. Each motor has a connection point at the corresponding position of its corresponding position on the oil pipe frame below it and is connected by a cable. The self-lifting intelligent control method includes the following steps: S1. Based on the water level gauge's measurement signal, adjust the vertical position of the wave energy harvesting device through the lifting control system to position the float at the optimal position for maximizing energy utilization efficiency. The optimal position refers to the position where the float, at its lowest piston rod position, is at the same height as the wave trough. If the float's maximum range of motion cannot reach the wave trough, the optimal position is the position closest to the wave trough when the float is at its lowest piston rod position. Assume the maximum lowering height of the wave energy harvesting device is... The thickness of the float is The maximum length of the piston rod is The height from the bottom of the tubing frame to the bottom of the hydraulic cylinder is Taking the center point of the float as the reference point for the float's position, the maximum range of motion of the float relative to the horizontal frame is [ Assuming the distance from the bottom of the horizontal frame to the wave trough is D, the optimal location of the wave energy harvesting device is determined by the distance between the tubing frame and the horizontal frame. If we express this, then we have: when hour, ; when hour, ; S2. Select one motor as the main motor and the other three motors as secondary motors. Use the connection point corresponding to the main motor's position as the reference point, and the horizontal plane containing the reference point as the reference plane. Install one of the aforementioned inclinometers on each of the three sides of the tubing frame to measure the tilt angle between the side containing the inclinometer and the horizontal reference plane. Based on the measurement signal from the inclinometers, adjust the horizontal attitude of the wave energy harvesting device through the lifting control system to ensure that the entire wave energy harvesting device is on a horizontal plane. Specifically, this includes: S2.1 Obtaining horizontal attitude adjustment signals: The tilt angle signals measured by the three inclinometers are converted into ideal vertical displacement signals between the other three connection points and the reference plane, thereby obtaining control signals for the three secondary motors, including the motor direction signal and ideal speed signal; S2.2 Adjust the horizontal attitude of the wave energy harvesting device: adjust the actual rotational speed of the three secondary motors. '、 , Converted to the corresponding true vertical displacement '、 , The fuzzy controller feeds back the displacement error signal between the ideal vertical displacement and the actual vertical displacement, and corrects the motor speed accordingly. '、 '、 After correction, the actual vertical displacement is compared with the ideal vertical displacement, and the speed of each motor is corrected using a fuzzy controller until the actual vertical displacement matches the ideal vertical displacement.

2. The self-lifting intelligent control method for the wave energy power generation device according to claim 1, characterized in that, The water level gauge is an electrical contact water level gauge, which is installed on the outside of the vertical guide rail. The electrical contact water level gauge includes multiple conductive electrodes installed at different depths. When water immerses two or more electrodes, the electrodes conduct electricity through the water, thereby obtaining an electrical signal of the water level height. The wave height is determined by monitoring the range of water level height changes, and the average value of the water level height changes is taken as the water level height.

3. The self-lifting intelligent control method for the wave energy power generation device according to claim 2, characterized in that, Water level and wave height are collectively referred to as water level signals. Each water level signal corresponds to the optimal position of a wave energy acquisition device. The water level signal is measured every set time interval, and the wave energy acquisition device is adjusted to the corresponding optimal position.

4. The self-lifting intelligent control method for the wave energy power generation device according to claim 3, characterized in that, After the lifting control system converts the water level signal into the optimal position signal of the wave energy acquisition device, it converts the optimal position signal into a control signal for the motor. By controlling the direction, speed and running time of the motor, the wave energy acquisition device can be pulled up or lowered.

5. The self-lifting intelligent control method for the wave energy power generation device according to claim 4, characterized in that, The wave energy generation device also includes speed sensors, with one speed sensor installed next to each of the four connection points of the oil pipe frame; the lifting control system inputs the ideal vertical displacement and the actual vertical displacement of the wave energy acquisition device, and uses a fuzzy controller to output real-time control signals for the motor to complete the adjustment of the vertical position of the wave energy acquisition device.

6. The self-lifting intelligent control method for the wave energy power generation device according to claim 5, characterized in that, The method of using a fuzzy controller to output real-time control signals for a motor specifically includes the following steps: Step 1: Convert the optimal position signal into an ideal vertical displacement signal for the wave energy harvesting device, including the motor's direction of rotation and ideal rotational speed; convert the actual movement speed of the wave energy harvesting device detected by the four speed sensors. , , , The actual speed is obtained by averaging. This is then converted into the corresponding displacement signal, i.e., the actual velocity of the wave energy acquisition device. The true vertical displacement of the wave energy harvesting device is obtained by integration. ; Step 2: Due to engineering errors, the actual rotation speed of each motor , , , and ideal rotational speed , , , The deviation resulted in the actual vertical displacement of the final wave energy acquisition device. With ideal vertical displacement Since there is a deviation, the displacement error signal between the two motors is fed back through a fuzzy controller to correct the speed of each motor, and the corrected speed of the four motors is output. , , , The control model for correcting the motor speed can be expressed as: in, and These are the model correction coefficients. This is the corrected speed for the motor. This is the actual rotational speed of the motor. The ideal rotational speed of the motor, t represents the actual velocity of the wave energy harvesting device; Step 3: Further refine the actual vertical displacement of the wave energy acquisition device after correcting the rotational speed. With ideal vertical displacement Error analysis is performed, and the speed of each motor is further corrected using a fuzzy controller until the actual vertical displacement matches the ideal vertical displacement.

7. The self-lifting intelligent control method for the wave energy power generation device according to claim 1, characterized in that, The method for obtaining the vertical displacement signal in S2.1 is as follows: Assume the connection points at the four corners of the tubing frame are A, B, C, and D, respectively. Using point A as the reference point and the plane containing point A as the reference plane, three inclinometers are distributed on sides AB, BC, and AD. The measured tilt angles are respectively... α、β and γ; Assume the lengths of the short and long sides of the tubing frame are respectively m and n Then point B will shift vertically. Point C is offset vertically. Point D is offset vertically. Then, the three vertical displacement signals are transmitted to the secondary motors corresponding to points B, C, and D, respectively.

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