Floating wind turbine with oscillating hydrofoil device and method of controlling the same

Abstract

The application provides a floating wind turbine with oscillating hydrofoil device and a control method thereof, comprising an execution system, which is configured with: a ship-shaped floating platform floating on the water surface; a wind turbine generator set installed on the ship-shaped floating platform; a single-point mooring device limiting the freedom of the ship-shaped floating platform in the horizontal direction; an oscillating hydrofoil device comprising a plurality of oscillating hydrofoil modules configured with hydrofoils; and a hydraulic control device arranged on the oscillating hydrofoil module and comprising a plurality of hydraulic control modules, wherein the hydrofoils can rotate around the shaft under the combined action of wind, wave and current, thereby driving the oscillating hydrofoil module to generate electricity; and the hydraulic control module can adjust the rotation damping and working angle of the hydrofoils. The application solves the problems of poor motion performance and single power generation mode of the traditional ship-shaped floating wind turbine, ensures the stability of the platform, and improves the power generation efficiency of the oscillating hydrofoil.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of ocean energy, in particular to a floating wind turbine with an oscillating hydrofoil device and a control method thereof. BACKGROUND

[0002] Ocean wind energy is a renewable energy with large-scale development and utilization prospects, and is an important part of China's energy strategy in the future. The ship-type floating wind turbine is an important equipment for developing offshore wind energy in the next generation, which has the advantages of shallow draft, simple structure, easy to install as a whole on the wharf, and towage, as well as wide water depth range and relatively low cost. The ship-type floating wind turbine with a single-point mooring device can also self-adjust to wind and reduce the transverse wave load. However, the waterline of the ship-type platform is large, the stress area is large, and the natural periods of pitch, roll, and heave motions are close to the wave period. Under the combined action of environmental load and working load, it shows strong randomness and nonlinearity, so a damping device needs to be added to reduce the motion response and load. Wave energy is another important renewable and clean energy on the sea, which has the characteristics of high energy density and wide distribution range. However, the traditional ship-type floating wind turbine only utilizes wind energy for power generation, and lacks a device for efficient conversion and utilization of wave energy.

[0003] To solve the above problems, there are various designs in the prior art. Patent document CN104875862A sets a pair of liquid tanks in the ship width direction, and sets flow paths connected to each other at the lower part thereof, so as to realize the effect of reducing the roll by using the damping of liquid flow. However, such arrangement of liquid tanks has high requirements for geometric size, and is not suitable for installation of the ship-type floating wind turbine. Patent document CN106382182A proposes a passive wave-absorbing roll-reducing power generation device for a floating wind turbine platform, which uses a float installed at the bottom of the platform to absorb wave energy, so as to reduce the response of the platform, and the absorbed energy can be used for power generation. However, such a float design has a great influence on the center of gravity of the wind turbine platform, and is only suitable for semi-submersible floating wind turbines. Patent document CN215884008U sets a float tank at the bottom of the floating wind turbine, and sets a water-permeable net and a grid damping member for increasing the contact area with seawater in the float tank, so as to achieve the effect of reducing the roll. However, it can only dissipate the absorbed energy in the form of heat, and cannot be absorbed and utilized. Patent document CN102720209A proposes a floating wind turbine foundation at sea comprising a telescopic damping device, which comprises a damping disc and a telescopic main beam connected to the damping disc, and the damping disc is provided with a roll-reducing fin and a spoiler hole, which can reduce the motion amplitude of the floating wind turbine. However, it has high requirements for water depth, and needs a complex control hub to control the state of each telescopic main beam.

[0004] In summary, engineering is urgently needed to install, simple structure, good controllability, high stability of the ship type floating wind turbine, and its anti-rolling device can not only reduce the amplitude of the platform motion, reduce the load, but also convert the absorbed energy into electrical energy. SUMMARY

[0005] In view of the defects in the prior art, the purpose of the present application is to provide a floating wind turbine with oscillating hydrofoil device and its control method.

[0006] According to the present application, a floating wind turbine with oscillating hydrofoil device is provided, comprising an execution system, the execution system is configured with:

[0007] The ship type floating platform is floating on the water surface;

[0008] The wind turbine generator is installed on the ship type floating platform for wind power generation;

[0009] The single point mooring device limits the freedom of the ship type floating platform in the horizontal direction and the ship type floating platform can rotate around the single point mooring device under the combined action of wind, wave and current;

[0010] The oscillating hydrofoil device is arranged below the ship type floating platform, comprising a plurality of oscillating hydrofoil modules configured with hydrofoils;

[0011] The hydraulic control device is arranged on the oscillating hydrofoil module, comprising a plurality of hydraulic control modules matched with the oscillating hydrofoil module, the hydrofoil can rotate around the shaft under the action of wave energy, thereby driving the oscillating hydrofoil module to generate electricity; at the same time, the hydraulic control module can adjust the rotation damping and working angle of the hydrofoil to make the oscillating hydrofoil module obtain the required power generation efficiency.

[0012] Preferably, the oscillating hydrofoil module has a hydraulic oil cylinder, and the rotation of the hydrofoil around the shaft can drive the hydraulic oil cylinder to extend and retract, thereby making the oscillating hydrofoil module generate electricity.

[0013] Preferably, the oscillating hydrofoil module further comprises a frame and a limiting device, one side of the hydrofoil is rotationally connected with the bottom of the frame, and the middle part of the hydrofoil is movably connected with the top of the frame through the hydraulic oil cylinder.

[0014] The limiting device is used to limit the maximum rotation angle of the hydrofoil.

[0015] Preferably, the hydraulic control module, each of the hydraulic control modules controls one of the oscillating hydrofoil modules, and the hydraulic control module comprises an electric control device, a hydraulic pump, a multi-way valve, a hydraulic power converter and hydraulic accessories.

[0016] The electric control device is connected with the hydraulic pump and the multi-way valve respectively to control the flow direction of the hydraulic oil in the hydraulic control module, the hydraulic power converter is connected with the hydraulic auxiliary component through the multi-way valve, and the hydraulic auxiliary component is connected with the hydraulic oil cylinder.

[0017] Preferably, the single-point mooring device is connected with the ship-shaped floating platform through a plurality of mooring device connecting frames.

[0018] The single-point mooring device limits the freedom degree of the ship-shaped floating platform in the horizontal direction through a plurality of anchor chains.

[0019] Preferably, the system further comprises a collection system and a control center, the collection system is used to collect real-time operation data and operation sea condition data on the execution system and provide the data to the control center for data processing and instruction decision-making.

[0020] The control center can process and analyze the real-time operation data and operation sea condition data collected by the collection system and send autonomous operation and control instructions to the execution system for execution.

[0021] Preferably, the collection system comprises at least one of an accelerometer and a gyroscope, a wind speed and direction sensor, a wave height and direction sensor, a water pressure and flow rate sensor, a hydrofoil attitude sensor, an oil cylinder hydraulic sensor, and a sensor of each power generation module.

[0022] The control center comprises a data processing module, an operation monitoring module, an operation control module, and an emergency backup module. The data processing module can preliminarily filter and convert the data collected by the collection system to obtain various physical quantities measured and submit the quantities to the other three modules. The operation monitoring module converts the data into charts and presents the charts to the staff through a visual interface for remote real-time monitoring. The operation control module outputs operation instructions to the execution system, the operation instructions including a hydrofoil attitude adjusting instruction, an oil cylinder hydraulic adjusting instruction, a wind turbine generator instruction, and a hydraulic power generation system generator instruction. The emergency backup module can take over the control in the extreme case that the operation control module fails. The emergency backup module provides a manual control channel for the execution system. After switching to the emergency backup module in an emergency, each part can be manually controlled to ensure that the execution system can escape from danger in an emergency.

[0023] According to the control method of the floating wind turbine with the oscillating hydrofoil device, the specific operation steps are as follows:

[0024] Step 1: According to the sea conditions in the operation area and the operation period, a proper number of oscillating hydrofoil modules and anchor chains are mounted on the ship-shaped floating platform, the working parameters are determined and input to the control center, and the collection system is started and calibrated.

[0025] Step 2: After the system deployment is completed, the control hub adjusts each power generation module to a power generation state. According to the wind speed and direction obtained by the collection system, the operation control module automatically issues a power generation instruction for the wind turbine generator set. The wind turbine generator set starts to work. According to the movement speed and acceleration of the ship-type floating platform, the self-pitching movement speed of the hydrofoil, and the water pressure and flow rate near the hydrofoil obtained by the collection system, the data processing module calculates the optimal working angle and optimal movement damping of the hydrofoil. According to the longitudinal and transverse positions of the oscillating hydrofoil module, the operation control module automatically issues different hydrofoil posture control instructions and movement damping control instructions. The hydrofoil is pushed to rotate, and the hydraulic control module opens the control of the hydraulic oil flow rate to change the movement damping of the hydrofoil.

[0026] Step 3: The hydrofoil moves with the movement of the ship-type floating platform. Under the action of water pressure and hydraulic cylinder damping, the hydrofoil makes a pitching movement around the rotation shaft. When the ship-type floating platform makes a pitching movement, the hydrofoils at the bow and stern make opposite heaving movements. When the ship-type floating platform makes a heaving movement, the hydrofoils at the bow and stern make the same heaving movement. When the hydrofoil rotates around the shaft in the first direction, the hydraulic cylinder is passively elongated and the internal hydraulic pressure is reduced. The hydraulic oil in the oil tank flows into the hydraulic cylinder through the hydraulic power converter, and the system generates electricity. When the hydrofoil rotates around the shaft in the second direction, the hydraulic cylinder is shortened and the internal hydraulic pressure is increased. The hydraulic oil flows from the hydraulic cylinder into the oil tank through the hydraulic power converter, and the system generates electricity. One movement cycle of the hydrofoil corresponds to two power generation processes of the hydraulic power converter. The first direction is opposite to the second direction.

[0027] Step 4: The execution system keeps generating electricity in the normal operation state. If the optimal working angle or optimal movement damping of the hydrofoil calculated by the data processing module differs from the current parameters by more than a preset value, the corresponding adjustment instruction is automatically issued to the operation execution module to improve the overall power generation efficiency of the execution system.

[0028] Preferably, when extreme working conditions are encountered, the control hub issues an alarm to remind the staff. At the same time, the priority of reducing the anchor chain load is increased in the control hub decision-making method, that is, between the optimal power generation efficiency and the optimal survival condition, the latter is selected, and the hydrofoil actively adjusts the angle to the greatest extent to reduce the load on the anchor chain. After the extreme working conditions end, steps 1-4 are repeated, and the execution system resumes normal operation to generate electricity.

[0029] Preferably, the working parameters include at least one of the working water depth, the anchor chain pre-tension, the statistical wind speed in the sea area, the statistical wave height in the sea area, the wave period, the initial posture of the hydrofoil, the initial length of the hydraulic cylinder, and the limit travel of the hydraulic cylinder.

[0030] The optimal working angle refers to an angle of the hydrofoil at a determined flow velocity and self heave motion velocity and pitch angle velocity, at which maximum energy conversion efficiency is reached, and the motion damping of the hydrofoil at the angle is defined as the optimal motion damping, wherein the optimal working angle can be achieved by adjusting the stroke of the hydraulic cylinder, and the optimal motion damping can be achieved by adjusting the flow rate of the hydraulic oil in the hydraulic cylinder.

[0031] Compared with the prior art, the present application has the following beneficial effects:

[0032] 1. The present application installs oscillating hydrofoil devices on the bow and stern of a single-point mooring ship type floating wind turbine, cooperates with a hydraulic power generation device, makes the hydrofoil absorb wave energy, generates horizontal directional thrust, reduces the anchor chain load, reduces the motion response of the platform, and generates electricity by using the absorbed energy, solves the problems of poor motion performance and single power generation mode of the traditional ship type floating wind turbine, monitors the posture of the platform and the hydrofoil, controls the oil pressure and the extension and retraction state of the oil cylinder, ensures the stability of the platform, and improves the power generation efficiency of the oscillating hydrofoil.

[0033] 2. The present application adopts an oscillating hydrofoil device composed of multiple groups of hydrofoils and hydraulic cylinders, uses the thrust generated by the hydrofoil to offset the wind and wave load, effectively solves the problems of poor motion performance and large anchor chain load of the single-point mooring ship type floating wind turbine platform, and realizes efficient operation of the hydrofoil under working sea conditions and ensures the safety of the device under high sea conditions.

[0034] 3. The present application installs oscillating hydrofoil devices on the bow and stern of a single-point mooring ship type floating wind turbine platform, controls the damping of the hydrofoil motion through a hydraulic system, can fully absorb the energy of the platform motion, improve the damping of the platform, realize energy absorption and roll reduction, and can also generate forward thrust to resist the longitudinal wave load and wind load during the working process of the oscillating hydrofoil, solves the problems of large anchor chain load and poor motion performance of the traditional ship type single-point mooring floating wind turbine platform.

[0035] 4. The present application uses a hydraulic system composed of a hydraulic power converter, a hydraulic pump, a multi-way valve and hydraulic accessories to control the extension and retraction of the hydraulic cylinder and the flow rate of the hydraulic oil, so as to realize the adjustment of the angle and motion damping of the hydrofoil, combines the angle and force monitoring device of the hydrofoil to adapt to different platform motion amplitudes under various working conditions, converts the energy of the platform motion into electrical energy, and solves the problems of single working condition and low power generation efficiency of the traditional passive oscillating hydrofoil.

[0036] 5. This invention can achieve precise control of the hydrofoil angle, ensuring that the oscillating hydrofoil device always works near the optimal angle and maintains the best power generation efficiency. At the same time, it can reduce the load under survival conditions, thus solving the problem of hydrofoil attitude control under different operating conditions. Attached Figure Description

[0037] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0038] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0039] Figure 2 This is a front view of the present invention.

[0040] Figure 3 This is a side view of the present invention;

[0041] Figure 4 This is a top view of the structure of the present invention;

[0042] Figure 5 This is a schematic diagram of the oscillating hydrofoil device.

[0043] Figure 6 This is a schematic diagram of the hydraulic control module.

[0044] Figure 7 This is a schematic diagram of the structure and working principle of an oscillating hydrofoil device;

[0045] Figure 8 A schematic diagram of the working oscillating hydrofoil during the pitching motion of a ship.

[0046] Figure 9 A schematic diagram of the working oscillating hydrofoil during the heaving motion of a ship;

[0047] Figure 10 A schematic diagram showing the flow direction of hydraulic oil during the first rotational direction of the hydrofoil;

[0048] Figure 11 A schematic diagram showing the flow direction of hydraulic oil during the second rotation direction of the hydrofoil;

[0049] Figure 12 Schematic diagram of thrust generation for hydrofoils;

[0050] Figure 13 This is a block diagram of the present invention;

[0051] Figure 14 This is a flowchart of the control method in this invention.

[0052] The diagram shows:

[0053] 100-Hull

[0054] 101-Deck

[0055] 102-Single Point Mooring Device

[0056] 103-Anchor Chain

[0057] 104-Connecting Beam

[0058] 105-Diagonal brace

[0059] 106-Mooring device connecting frame

[0060] 200-Wind Turbine Generator Set

[0061] 300-Oscillating Hydrofoil Module

[0062] 301-hydrofoil

[0063] 302-shaft

[0064] 303-Hydraulic Cylinder

[0065] 304 - Frame

[0066] 305 - Limiting Device

[0067] 400-Hydraulic Control Module

[0068] 401 - Electrical Control Equipment

[0069] 402-Hydraulic Pump

[0070] 403-Multi-way valve

[0071] 404-Hydraulic-Electric Converter

[0072] 405-Hydraulic Accessories Detailed Implementation

[0073] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0074] Example 1:

[0075] The application provides a floating wind turbine with oscillating hydrofoil device, which comprises an execution system, a collection system and a control center, the execution system comprises a ship-shaped floating platform, a wind turbine set 200, a single-point mooring device 102, an oscillating hydrofoil device and a hydraulic control device, the ship-shaped floating platform floats on the water surface; the wind turbine set 200 is installed on the ship-shaped floating platform and is used for wind power generation; the single-point mooring device 102 is used for limiting the freedom degree of the ship-shaped floating platform in the horizontal direction and the ship-shaped floating platform can rotate around the single-point mooring device 102 under the combined action of wind, wave and flow, and the single-point mooring device 102 is preferably connected with the ship-shaped floating platform through a mooring device connecting frame 106; the oscillating hydrofoil device is arranged below the ship-shaped floating platform and comprises a plurality of oscillating hydrofoil modules 300 provided with hydrofoils 301; the hydraulic control device is arranged on the oscillating hydrofoil module 300 and comprises a plurality of hydraulic control modules 400 matched with the oscillating hydrofoil module 300, the hydrofoil 301 can rotate around the shaft under the action of wave energy and drive the oscillating hydrofoil module 300 to generate electricity; meanwhile, the hydraulic control module 400 can adjust the rotation damping and working angle of the hydrofoil 301 so that the oscillating hydrofoil module 300 obtains better power generation efficiency.

[0076] Specifically, the oscillating hydrofoil module 300 has a hydraulic oil cylinder 303, a frame 304 and a limiting device 305, one side of the hydrofoil 301 is rotationally matched with the bottom of the frame 304, the middle part of the hydrofoil 301 is movably matched with the top of the frame 304 through the hydraulic oil cylinder 303, the hydrofoil 301 rotates around the shaft to drive the hydraulic oil cylinder 303 to extend and retract, thereby making the oscillating hydrofoil module 300 generate electricity, and the limiting device 305 is used for limiting the maximum rotation angle of the hydrofoil 301; the single-point mooring device 102 limits the freedom degree of the ship-shaped floating platform in the horizontal direction through a plurality of anchor chains 103.

[0077] In actual application, each hydraulic control module 400 controls one oscillating hydrofoil module 300, the hydraulic control module 400 comprises an electric control equipment 401, a hydraulic pump 402, a multi-way valve 403, a hydraulic power converter 404 and a hydraulic auxiliary component 405, the electric control equipment 401 is respectively connected with the hydraulic pump 402 and the multi-way valve 403 in control connection, thereby controlling the flow direction of the hydraulic oil in the hydraulic control module 400, the hydraulic power converter 404 connects the hydraulic auxiliary component 405 through the multi-way valve 403, and the hydraulic auxiliary component 405 is connected with the hydraulic oil cylinder 303.

[0078] The collection system in the application is used for collecting real-time operation data and operation sea condition data on the execution system, and providing the control center for data processing and instruction decision; the control center can process and analyze the real-time operation data and operation sea condition data collected by the collection system, and send autonomous running and operation instructions to the execution system for execution. The collection system includes an accelerometer and a gyroscope, a wind speed and direction sensor, a wave height and direction sensor, a water pressure and flow rate sensor, a hydrofoil attitude sensor, an oil cylinder hydraulic sensor, various power generation module sensors, etc. The control center includes a data processing module, a running monitoring module, an operation control module and an emergency backup module. The data processing module can preliminarily filter and convert the data collected by the collection system, obtain various physical quantities measured and submit them to the other three modules. The running monitoring module converts the data into charts and presents them to the staff through a visual interface for remote real-time monitoring. The operation control module outputs operation instructions to the execution system, including adjusting the hydrofoil attitude, adjusting the oil cylinder hydraulic pressure, generating power for the wind turbine unit and generating power for the hydraulic power generation system. The emergency backup module can take over the control in the extreme case of failure of the operation control module. The emergency backup module provides a manual control channel for the execution system. After switching to the emergency backup module in an emergency, manual control of each part can be realized to ensure the execution system to escape from danger in an emergency.

[0079] The application further provides a control method of a floating wind turbine with an oscillating hydrofoil device, and the specific operation steps are as follows:

[0080] Step 1: according to the sea conditions in the operation area and the operation period, a proper number of oscillating hydrofoil modules 300 and anchor chains 103 are carried on the ship-type floating platform, the working parameters are determined and input into the control center, the collection system is started and calibrated, wherein the working parameters include at least one of the operation water depth, the anchor chain pre-tension, the statistical wind speed in the sea area, the statistical wave height in the sea area, the wave period, the initial attitude of the hydrofoil, the initial length of the hydraulic oil cylinder, and the limit stroke of the hydraulic oil cylinder.

[0081] Step 2: After the system deployment is completed, the control center adjusts each power generation module to the power generation state. According to the wind speed and direction obtained by the collection system, the operation control module automatically issues a power generation instruction to the wind turbine 200, and the wind turbine 200 starts to work. According to the movement speed and acceleration of the ship-type floating platform, the pitch movement speed of the hydrofoil itself, the water pressure and flow speed near the hydrofoil obtained by the collection system, the data processing module calculates the optimal working angle and optimal movement damping of the hydrofoil 301. According to the longitudinal and transverse positions of the oscillating hydrofoil module 300, the operation control module automatically issues different hydrofoil posture control instructions and movement damping control instructions. The hydrofoil 301 is pushed to rotate, and at the same time the hydraulic control module 400 opens the control of the flow rate of hydraulic oil to change the movement damping of the hydrofoil 301. The optimal working angle refers to the angle of the hydrofoil 301 at which the maximum energy conversion efficiency is achieved under a certain incoming flow speed and its own heaving movement speed and pitch angular speed. The movement damping of the hydrofoil 301 at this time is defined as the optimal movement damping. The optimal working angle can be achieved by adjusting the stroke of the hydraulic cylinder 303, and the optimal movement damping can be achieved by adjusting the flow rate of hydraulic oil in the hydraulic cylinder 303.

[0082] Step 3: The hydrofoil 301 moves with the movement of the ship-type floating platform. Under the action of water pressure and hydraulic cylinder damping, the hydrofoil 301 makes pitch movement around the rotating shaft 302. When the ship-type floating platform makes pitch movement, the hydrofoils 301 at the bow and stern make opposite direction heaving movement. When the ship-type floating platform makes heaving movement, the hydrofoils 301 at the bow and stern make the same direction heaving movement. When the hydrofoil 301 rotates around the shaft in the first direction, the hydraulic cylinder 303 is passively elongated and the internal hydraulic pressure is lowered. The hydraulic oil in the oil tank flows into the hydraulic cylinder through the hydraulic power converter 404, and the system generates electricity. When the hydrofoil 301 rotates around the shaft in the second direction, the hydraulic cylinder 303 is shortened and the internal hydraulic pressure is raised. The hydraulic oil flows from the hydraulic cylinder 303 to the oil tank through the hydraulic power converter 404, and the system generates electricity. One movement cycle of the hydrofoil 301 corresponds to two power generation processes of the hydraulic power converter 404. In this embodiment, as shown in Figure 10 、 Figure 11 , the first direction is clockwise rotation and the second direction is counterclockwise rotation.

[0083] Step 4: The execution system keeps generating electricity in the normal operation state. If the optimal working angle or optimal movement damping of the hydrofoil 301 calculated by the data processing module differs from the current parameters by more than a preset value, the corresponding adjustment instructions are automatically issued to the operation execution module to improve the overall power generation efficiency of the execution system.

[0084] It should be noted that when encountering extreme working conditions, the control center will issue an alarm to remind the staff; at the same time, the priority of reducing the anchor chain load in the control center decision-making method will be increased, that is, between the optimal power generation efficiency and the optimal survival condition, the latter is selected by decision, and the hydrofoil 301 actively adjusts the angle to maximize the reduction of the load on the anchor chain; after the extreme working condition ends, steps 1-4 are repeated, and the system is executed. Normal operation of the power generation.

[0085] Embodiment 2:

[0086] This embodiment is a preferred example of embodiment 1

[0087] This embodiment provides a floating wind turbine with oscillating hydrofoil device, which includes a ship-shaped floating platform, a wind turbine unit 200, a single point mooring device 102, an oscillating hydrofoil device and a hydraulic control device.

[0088] As shown in Figure 1 , Figure 2 , Figure 3 , Figure 4 The main structure of the ship-shaped floating platform is composed of a hull 100, which is preferably a catamaran type, which can ensure the lateral stability of the floating wind turbine and reduce the sway of the platform during operation. The two pieces are internally provided with watertight compartments, which can be used to adjust the ballast water, load working equipment, etc. The two pieces are connected by several non-water-contacting transverse connecting beams 104. In the range from the centerline of the hull to the stern, the deck 101 is covered and laid on the hull, and the inclined strut 105 is arranged on the deck to support the wind turbine unit 200.

[0089] The single point mooring device 102 is arranged on the fore centerline of the hull, which is connected to the hull through the mooring device connecting frame 106, and the single point mooring device 102 is connected through several anchor chains 103, preferably 6, to limit the horizontal movement degree of freedom of the ship-shaped floating platform, but the platform can rotate in the horizontal plane around the single point mooring device 102. Its role is to make the ship-shaped floating platform automatically face the incoming flow direction when it is subjected to a certain direction of wind and wave flow, so as to make the wind turbine unit 200 and the oscillating hydrofoil module 300 in the optimal working state. The size and number of anchor chains 103 can be adjusted according to the actual installation position and water depth.

[0090] The oscillating hydrofoil device is composed of a plurality of oscillating hydrofoil modules 300, which functions to convert the kinetic energy of the heave and pitch motion of the ship-shaped floating platform in waves into forward thrust of the platform, i.e. the thrust in the bow direction, and to drive the hydraulic control module 400 to generate electricity. The oscillating hydrofoil module 300 comprises a hydrofoil 301 arranged at the bottom of the module, a rotating shaft 302, a hydraulic cylinder 303 for controlling the movement of the hydrofoil around the rotating shaft, a frame 304, and a limiting device 305. The hydrofoil 301 is a symmetrical airfoil, preferably a NACA0012 airfoil. When arranged, the leading edge of the hydrofoil 301 faces the bow, and the trailing edge faces the stern. The hydrofoil 301 is hinged to the frame 304 through the rotating shaft 302, so that the hydrofoil 301 can perform pitching motion around the rotating shaft 302, and the maximum rotation angle of the hydrofoil 301 is limited by the limiting device 305. The maximum rotation angle of the hydrofoil is preferably 30°. The rotating shaft 302 is preferably arranged at the quarter chord length of the hydrofoil 301 to improve energy absorption efficiency. The hydraulic cylinder 303 is hinged to the hydrofoil 301 and the frame 304 at both ends.

[0091] As shown in Figure 5 , the hinge supports connecting the hydrofoil 301 and the hydraulic cylinder 303 are arranged on both sides of the hydrofoil 301 along the length direction and near the middle of the chord length close to the trailing edge. The hinge supports connecting the hydraulic cylinder 303 and the frame 304 are arranged at the intersection of the frame 304 in the vertical direction.

[0092] As shown in Figure 6 , Figure 7 , the distance from the center of the rotating shaft of the hydrofoil 301 to the center of the upper end hinge support of the hydraulic cylinder 303 is L1, the distance from the center of the rotating shaft of the hydrofoil 301 to the center of the lower end hinge support of the hydraulic cylinder 303 is L2, and the initial included angle of the hydraulic cylinder 303 at both ends with the rotating shaft of the hydrofoil as the center is θ0. Then the length L of the hydraulic cylinder 303 is C L = L1 C + L2 2 - 2L1L2 cos(θ0+α). 2 2

[0093] Specifically, the hydraulic cylinder 303 can actively adjust the size of the hydraulic pressure inside, thereby changing the damping effect on the pitching motion of the hydrofoil 301. A plurality of oscillating hydrofoil modules 300 are arranged along the ship width direction to form an oscillating hydrofoil group. The number of transverse distribution can be adjusted according to the actual operating sea conditions. In this embodiment, five oscillating hydrofoil modules 300 form an oscillating hydrofoil group. Since the heave motion amplitude of the ship-shaped floating platform is the largest at the bow and stern, one or more oscillating hydrofoil energy absorption groups can be arranged at the bow and stern of the ship-shaped floating platform. In this embodiment, one oscillating hydrofoil group is arranged at the bow and stern of the ship-shaped floating platform, which aims to maximize the absorption of the kinetic energy of the ship-shaped floating platform to reduce the motion response of the ship-shaped floating platform in waves.​

[0094] Further, the hydrofoil 301 can generate forward thrust during operation, which counteracts the longitudinal wave load and wind load, as shown in Figure 8 、 Figure 9 、 Figure 12 indicated, thereby reducing the horizontal force on the single point mooring device 102 and achieving the effect of reducing the load. It should be noted that the arrangement of all oscillating hydrofoil modules 300 needs to ensure that they do not interfere with the anchor chain 103 during operation.

[0095] The hydraulic control device is composed of a plurality of hydraulic control modules 400, and each hydraulic control module 400 controls one oscillating hydrofoil module 300. The hydraulic control module 400 includes an electric control device 401, a hydraulic pump 402, a multi-way valve 403, a hydraulic power converter 404, and a hydraulic auxiliary component 405, wherein the electric control device 401 can control the operation of the hydraulic pump 402 and the multi-way valve 403, thereby controlling the flow direction of the hydraulic oil in the hydraulic control module 400. The multi-way valve 403 functions to communicate, cut off, reverse, and regulate the flow of hydraulic oil. The multi-way valve 403 is connected to the hydraulic power converter 404 and the hydraulic auxiliary component 405, and the hydraulic oil flows between the hydraulic oil cylinder 303 and the hydraulic power converter 404 through the hydraulic auxiliary component 405 and the multi-way valve 403. When the hydraulic oil flows into the hydraulic oil cylinder 303 under the action of the hydraulic pump 402, the electric energy is converted into the mechanical energy of the hydraulic oil, which pushes the hydraulic oil cylinder 303, thereby controlling the movement of the hydrofoil 301. When the hydrofoil 301 makes the pitching movement around the rotation shaft 302 under the action of water pressure as the platform moves, the hydraulic oil cylinder 303 is pushed by the hydrofoil 301, the hydraulic oil flows through the hydraulic power converter 404 through the multi-way valve 403, and the mechanical energy of the hydraulic oil is converted into electric energy.

[0096] As Figure 13As shown, the acquisition system mainly consists of various sensors arranged on the system, including accelerometers and gyroscopes, wind speed and direction sensors, wave height and direction sensors, water pressure and flow rate sensors, hydrofoil attitude sensors, oil cylinder hydraulic sensors, and various power generation module sensors. The main function is to collect real-time operation data and sea condition data of the ship-type floating wind turbine platform, and provide data processing and instruction decision-making to the control center. The accelerometers and gyroscopes collect the motion acceleration and attitude information of the ship-type platform; the wind speed and direction sensors collect the wind speed and direction information during platform operation; the wave height and direction sensors collect the wave height and wave propagation direction near the oscillating hydrofoil module; the water pressure and flow rate sensors collect the flow rate and water pressure near the oscillating hydrofoil module; the hydrofoil attitude sensor collects the rotation angle and rotation angular velocity of the hydrofoil; the oil cylinder hydraulic sensor collects the oil pressure and flow rate in the hydraulic cylinder; and the various power generation module sensors collect the power generation power of the wind turbine generator set and the power generation power of the hydraulic power generation system, so that the control center can adjust the working state of each power generation module.

[0097] The control center is mainly responsible for processing and analyzing the real-time environmental and mechanism operation data collected by the acquisition system, and sending autonomous operation and operation instructions to the execution system for execution. The control center includes four parts: data processing module, operation monitoring module, operation control module and emergency backup module. The data processing module is mainly responsible for preliminary filtering and conversion processing of the data collected by each sensor, obtaining the measured physical quantities, and submitting them to other modules. The operation monitoring module converts the necessary data into charts and provides them to the ground station staff for remote real-time monitoring through a visual interface. The operation control module is mainly responsible for outputting operation instructions to the execution system, including adjusting the hydrofoil attitude, adjusting the oil cylinder hydraulic pressure, adjusting the wind turbine generator power, and adjusting the hydraulic power generation system power. The emergency backup module is a simplified module based on the operation control module, mainly responsible for emergency takeover control in extreme cases where the operation control module fails. This module provides a manual control channel for the execution system, and after switching to this module in an emergency, manual control of each part can be achieved, thereby ensuring the invention device can escape danger in an emergency.

[0098] The execution system can execute the instructions issued by the control center, including:

[0099] According to the instructions, the flow direction of the hydraulic oil is controlled, the hydraulic oil cylinder is extended or shortened, and the angle of the hydrofoil is adjusted.

[0100] According to the instructions, the flow rate of the hydraulic oil is adjusted, and the damping effect of the hydraulic oil cylinder on the pitching motion of the hydrofoil is adjusted.

[0101] Automatic control is adopted, including controlling the power generation of the wind turbine generator and the power generation of the hydraulic system.

[0102] As Figure 14 shown, the specific control principle of the present application is as follows:

[0103] Step 1, according to the sea conditions in the working area and the length of the working period, check and according to the demand to carry the right number of oscillating hydrofoil group, select the appropriate size of the anchor chain 103, determine the working parameters, and input by artificial to the control center, and then open and calibrate the various sensors on the mechanism. Among them, these working parameters include but are not limited to the working water depth, the anchor chain pre-tension, the statistical wind speed in the sea area, the statistical wave height and wave period in the sea area, the initial attitude of the hydrofoil, the initial length of the hydraulic cylinder, the limit travel of the hydraulic cylinder, etc.

[0104] Step 2, after the system is deployed, the control center adjusts each power generation module to the power generation state. According to the wind speed and direction obtained by the acquisition system, the wind turbine group power generation instruction is automatically issued by the operation control module, and the wind turbine group starts to work. According to the platform motion speed, acceleration, hydrofoil own pitch motion speed, water pressure and flow rate near the hydrofoil obtained by the acquisition system, the data processing module calculates the optimal working angle and optimal motion damping of the hydrofoil. The optimal working angle is the angle of the hydrofoil 301 under the determined flow speed and its own heave motion speed, pitch angle speed, which reaches the maximum energy conversion, and its angle motion range a, and the motion damping of the hydrofoil at this time is called the optimal motion damping k. Among them, the optimal working angle a can be achieved by adjusting the travel of the hydraulic cylinder 303, and the optimal motion damping k can be achieved by adjusting the flow rate of the hydraulic oil in the hydraulic cylinder 303. According to the longitudinal and lateral positions of the oscillating hydrofoil module 300, the operation control module automatically issues different hydrofoil attitude control instructions and motion damping control instructions. The hydrofoil 301 is pushed to rotate, and at the same time the hydraulic control module 400 opens the control of the flow rate of the hydraulic oil, thereby changing the motion damping of the hydrofoil 301. Generally, the heave motion at the bow and stern of the ship is most affected by the vertical oscillation and pitch of the ship, so the oscillating hydrofoil 301 installed at the bow and stern has a larger optimal working angle a and a larger optimal motion damping k. Similarly, the oscillating hydrofoil modules 300 on both sides of the ship are most affected by the roll of the ship, and the hydrofoils 301 at these positions have a larger optimal working angle a and a larger optimal motion damping k than the hydrofoils 301 at the center of the ship.

[0105] Step 3, the working state of the hydrofoil 301 is roughly the same within a certain time range, so the optimal motion angle and the optimal motion damping of the hydrofoil 301 may vary but will not change dramatically, so within a certain time range after the hydrofoil attitude adjustment instruction is issued, preferably one tenth of the current wave period, the hydrofoil attitude is silent. The hydrofoil 301 moves with the motion of the ship-type floating platform, and under the action of water pressure and hydraulic cylinder 303 damping, the hydrofoil 301 does pitch motion around the rotation shaft 302. Figure 8As shown, when the ship-shaped floating platform makes pitch motion, the water wings 301 at the bow and stern of the ship-shaped floating platform make opposite heaving motion, as shown in FIG. 2. Figure 9 As shown, when the ship-shaped floating platform makes heave motion, the water wings 301 at the bow and stern of the ship-shaped floating platform make the same heaving motion. When the water wings 301 rotate clockwise around the shaft, the hydraulic cylinder 303 is passively elongated, the internal hydraulic pressure is reduced, the hydraulic oil in the oil tank flows into the hydraulic cylinder 303 through the hydraulic power converter 404, and the system generates electricity, as shown in FIG. 3. Figure 10 As shown, when the water wings 301 rotate counterclockwise around the shaft, the hydraulic cylinder 303 is shortened, the internal hydraulic pressure is increased, the hydraulic oil flows from the hydraulic cylinder 303 to the oil tank through the hydraulic power converter 404, and the system generates electricity, as shown in FIG. 4. Figure 11 The motion cycle of one water wing 301 corresponds to two electricity generation processes of the hydraulic power converter 404.

[0106] Step 4: After the above steps are completed, the system keeps generating electricity in a normal operation state. If the data processing module calculates that the optimal working angle or optimal motion damping of the water wing 301 is greatly different from the current parameters, the corresponding adjustment instruction is automatically sent to the operation execution module to improve the overall power generation efficiency of the mechanism.

[0107] It should be noted that when the execution system encounters extreme working conditions, the control center will issue an alarm to remind the staff to prepare in advance. At the same time, the priority of reducing the load of the anchor chain 103 in the control center decision method is increased, that is, between the optimal power generation efficiency and the optimal survival condition, the latter is selected. It is reflected in that the water wing 301 actively adjusts the angle to the greatest extent to reduce the load of the anchor chain 103, greatly improving the survival ability and service life of the platform. After the extreme working condition ends, steps 1-4 are repeated, and the system is re-operated to generate electricity.

[0108] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0109] The specific embodiments of the present application have been described above. It should be understood that the present application is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essential content of the present application. The embodiments of the present application and the features in the embodiments can be arbitrarily combined without conflict.

Claims

1. A floating wind turbine having an oscillating hydrofoil device, characterised in that, The execution system is configured to: The ship-shaped floating platform floats on the water surface; The wind turbine generator (200) is installed on the ship-shaped floating platform for wind power generation; The single-point mooring device (102) limits the horizontal freedom of the ship-shaped floating platform, and the ship-shaped floating platform can rotate around the single-point mooring device (102) under the combined action of wind, wave and current; The oscillating hydrofoil device is arranged below the ship-shaped floating platform and can convert the kinetic energy of the heaving and pitching motion of the ship-shaped floating platform in the wave into forward thrust of the platform, and includes a plurality of oscillating hydrofoil modules (300) configured with hydrofoils (301); The hydraulic control device is arranged on the oscillating hydrofoil module (300) and includes a plurality of hydraulic control modules (400) matched with the oscillating hydrofoil module (300), under the action of wave energy, the hydrofoil (301) can rotate around the shaft to drive the oscillating hydrofoil module (300) to generate electricity, wherein the clockwise rotation or counterclockwise rotation of the hydrofoil (301) can make the oscillating hydrofoil module (300) generate electricity; at the same time, the hydraulic control module (400) can adjust the rotation damping and working angle of the hydrofoil (301) to make the oscillating hydrofoil module (300) obtain the required power generation efficiency; The oscillating hydrofoil module (300) has a hydraulic oil cylinder (303), the optimal working angle can be achieved by adjusting the stroke of the hydraulic oil cylinder (303), and the optimal motion damping can be achieved by adjusting the flow rate of the hydraulic oil in the hydraulic oil cylinder (303).

2. Floating wind turbine with oscillating hydrofoil device according to claim 1, characterized in that The rotation of the hydrofoil (301) around the shaft can drive the hydraulic oil cylinder (303) to extend and retract, thereby making the oscillating hydrofoil module (300) generate electricity.

3. Floating wind turbine with oscillating hydrofoil device according to claim 2, characterized in that The oscillating hydrofoil module (300) further includes a frame (304) and a limiting device (305), one side of the hydrofoil (301) is rotationally connected with the bottom of the frame (304), and the middle part of the hydrofoil (301) is movably connected with the top of the frame (304) through the hydraulic oil cylinder (303); The limiting device (305) is used to limit the maximum rotation angle of the hydrofoil (301).

4. Floating wind turbine with oscillating hydrofoil device according to claim 3, characterized in that The hydraulic control module (400) corresponds to one oscillating hydrofoil module (300), and the hydraulic control module (400) includes an electric control device (401), a hydraulic pump (402), a multi-way valve (403), a hydraulic power converter (404) and a hydraulic auxiliary component (405); The electric control device (401) is connected with the hydraulic pump (402) and the multi-way valve (403) to control the flow direction of the hydraulic oil in the hydraulic control module (400), the hydraulic power converter (404) is connected with the hydraulic auxiliary component (405) through the multi-way valve (403), and the hydraulic auxiliary component (405) is connected with the hydraulic oil cylinder (303).

5. Floating wind turbine with oscillating hydrofoil device according to claim 1, characterized in that, The single point mooring device (102) connects the ship-shaped floating platform through a plurality of mooring device connecting frames (106); The single point mooring device (102) limits the horizontal freedom of the ship-shaped floating platform through a plurality of anchor chains (103).

6. Floating wind turbine with oscillating hydrofoil device according to claim 1, characterized in that Further comprising a collection system and a control center, the collection system is used to collect real-time operation data and operation sea condition data on the execution system, and provide the control center for data processing and instruction decision-making; The control center can process and analyze the real-time operation data and operation sea condition data collected by the collection system, and send autonomous operation and control instructions to the execution system for execution.

7. Floating wind turbine with oscillating hydrofoil device according to claim 6, characterized in that The collection system comprises at least one of an accelerometer and a gyroscope, a wind speed and direction sensor, a wave height and direction sensor, a water pressure and flow rate sensor, a hydrofoil attitude sensor, an oil cylinder hydraulic sensor, and a power generation module sensor; The control center comprises a data processing module, an operation monitoring module, an operation control module, and an emergency backup module, the data processing module can preliminarily filter and convert the data collected by the collection system to obtain various physical quantities measured and submit them to the other three modules, the operation monitoring module converts the data into charts and presents them to the staff through a visual interface for remote real-time monitoring, the operation control module outputs operation instructions to the execution system, the operation instructions include adjusting the hydrofoil attitude instructions, the oil cylinder hydraulic adjustment instructions, the wind turbine generator instructions, and the hydraulic power generation system power generation instructions; the emergency backup module can take over the control in the extreme case that the operation control module fails, the emergency backup module provides a manual control channel for the execution system, and after switching to the emergency backup module in an emergency, manual control of each part can be realized to ensure the execution system to escape from danger in an emergency.

8. A control method for a floating wind turbine having an oscillating hydrofoil device, characterized in that, The floating wind turbine with the oscillating hydrofoil device according to any one of 1 to 7, the specific operation steps are as follows: Step 1: according to the sea conditions in the operation area and the operation period, a proper number of oscillating hydrofoil modules (300) and anchor chains (103) are mounted on the ship-shaped floating platform, the working parameters are determined and input into the control center, and the collection system is started and calibrated; Step 2: after the execution system is deployed, the power generation modules are adjusted to the power generation state through the control center, the wind turbine generator set (200) starts to work according to the wind speed and direction obtained by the collection system, the best working angle and the best motion damping of the hydrofoil (301) are calculated by the data processing module according to the motion speed, acceleration, hydrofoil pitch motion speed, water pressure and flow rate near the hydrofoil of the ship-shaped floating platform obtained by the collection system, different hydrofoil attitude control instructions and motion damping control instructions are automatically issued by the operation control module according to the longitudinal and lateral positions of the oscillating hydrofoil module (300), the hydrofoil (301) is pushed to rotate, and the hydraulic control module (400) is started to control the flow rate of hydraulic oil to change the motion damping of the hydrofoil (301); Step 3: The hydrofoil (301) moves with the ship-shaped floating platform, and under the action of water pressure and hydraulic cylinder damping, the hydrofoil (301) makes pitching movement around the rotation shaft (302), when the ship-shaped floating platform makes pitching movement, the hydrofoils (301) at the bow and stern make opposite direction heaving movement, when the ship-shaped floating platform makes heaving movement, the hydrofoils (301) at the bow and stern make same direction heaving movement, when the hydrofoil (301) rotates around the shaft in the first direction, the hydraulic cylinder (303) is passively elongated and the internal hydraulic pressure is lowered, the hydraulic oil in the oil tank flows into the hydraulic cylinder through the hydraulic power converter (404), and the system generates electricity; when the hydrofoil (301) rotates around the shaft in the second direction, the hydraulic cylinder (303) is shortened, the internal hydraulic pressure is raised, and the hydraulic oil flows from the hydraulic cylinder (303) to the oil tank through the hydraulic power converter (404), and the system generates electricity; one cycle of movement of the hydrofoil (301) corresponds to two power generation processes of the hydraulic power converter (404), wherein the first direction is opposite to the second direction; Step 4: The execution system keeps normal operation state and continuously generates electricity, if the best working angle or the best movement damping of the hydrofoil (301) calculated by the data processing module is more than a preset value from the current parameters, the corresponding adjustment instruction is automatically sent to the operation execution module to improve the overall power generation efficiency of the execution system.

9. A control method for a floating wind turbine having an oscillating hydrofoil device according to claim 8, characterised in that, When extreme working conditions are encountered, the control center will issue an alarm to remind the staff; at the same time, the priority of reducing the anchor chain load will be increased in the control center decision-making method, that is, between the optimal power generation efficiency and the optimal survival condition, the latter is selected, and the hydrofoil (301) actively adjusts the angle to reduce the load on the anchor chain to the greatest extent; after the extreme working condition ends, steps 1-4 are repeated, and the execution system is re-operated to generate electricity.

10. A control method for a floating wind turbine having an oscillating hydrofoil device according to claim 8, characterized in that, The working parameters include at least one of the working water depth, the anchor chain pre-tension, the statistical wind speed of the sea area, the statistical wave height of the sea area, the wave period, the initial attitude of the hydrofoil, the initial length of the hydraulic cylinder, and the limit stroke of the hydraulic cylinder. The best working angle refers to the angle of the hydrofoil (301) under the determined flow velocity and the heaving movement speed and the pitching angular velocity of the hydrofoil (301), at which the maximum energy conversion efficiency is reached, and the movement damping of the hydrofoil (301) at this time is defined as the best movement damping, wherein the best working angle can be achieved by adjusting the stroke of the hydraulic cylinder (303), and the best movement damping can be achieved by adjusting the flow rate of the hydraulic oil in the hydraulic cylinder (303).

Images