A method and terminal for boarding an offshore wind power operation and maintenance ship

Abstract

The present invention discloses a method and a terminal for selecting the time to board an offshore wind power operation and maintenance ship. The method obtains weather forecast information at a forecast time, constructs a plurality of different ship-wind turbine coupling models, determines input parameters and input conditions of the plurality of different ship-wind turbine coupling models based on the weather forecast information, calculates ship motion response amplitude operators of the plurality of different ship-wind turbine coupling models at each degree of freedom at the forecast time and a forecast sequence of the lifting amplitude of the ship's top docking point based on the input parameters and the input conditions, determines whether the forecast time is suitable for the boarding operation of the ship based on the two, constructs a plurality of different ship-wind turbine coupling models, and uses the weather forecast information at the forecast time to determine the input parameters and input conditions of the models, takes into account the differences in the adaptability of different ships to sea conditions and the response conditions, thereby more accurately and effectively determining the boarding operation time of the offshore wind power operation and maintenance ship.

Description

Technical Field

[0001] The present invention relates to the technical field of offshore wind power operation and maintenance, and in particular to a method and a terminal for boarding an offshore wind power operation and maintenance vessel. Background Art

[0002] At present, the number of offshore wind farms officially put into operation in China is gradually increasing, and they are facing more and more problems. Among them, the most critical problem is the repair and maintenance of wind turbines. When performing offshore wind power operation and maintenance operations, it is necessary to take an operation and maintenance ship to the offshore wind turbine. Due to the influence of environmental factors such as wave disturbance, the ship inevitably produces six degrees of freedom. When leaning against the wind turbine tower, it is affected by three loads from wind, waves, and currents, especially the bow part coupled with the wind turbine tower. The resulting rise and fall and pitch will bring unpredictable risks to the operation and maintenance personnel. In operation and maintenance operations, this situation is often faced: when the ship arrives at the wind turbine, the sea conditions do not support the ship's leaning, or the risk is too great to give up leaning and return, wasting a lot of manpower and material resources.

[0003] In the selection of the boarding time of offshore wind power operation and maintenance ships, the traditional method is to simply set some general thresholds of sea conditions and meteorological elements, that is, when the wind, wave and current parameters of the wind farm area are predicted to reach the values ​​that meet the requirements of the ship, it is determined that the boarding operation can be carried out. This method is relatively rough and uses a single value of the meteorological forecast to speculate on the complex and changeable marine environment, which has limitations. In addition, different ships have different adaptability and response to sea conditions. The general marine meteorological forecast is not tailor-made for all ships, and the boarding operation time based on this judgment is not applicable to all ships, ignoring the response process of the ship to sea conditions and specific operation scenarios. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a method and a terminal for selecting the time to board an offshore wind power operation and maintenance vessel, which can more accurately and effectively determine the time to board the offshore wind power operation and maintenance vessel.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0006] A method for selecting a time to board an offshore wind power operation and maintenance vessel comprises the following steps:

[0007] Obtain weather forecast information at the forecast time and build multiple different ship-wind turbine coupling models;

[0008] determining input parameters and input conditions of the plurality of different ship-wind turbine coupling models based on the weather forecast information;

[0009] Calculate the ship motion response amplitude operators and the ship top point lifting amplitude prediction sequence of the multiple different ship-wind turbine coupling models at each degree of freedom at the prediction time based on the input parameters and the input conditions;

[0010] Whether the predicted time is suitable for the boarding operation of the ship is determined according to the ship motion response amplitude operator under each degree of freedom and the predicted sequence of the lifting amplitude of the ship's top docking point.

[0011] In order to solve the above technical problems, another technical solution adopted by the present invention is:

[0012] A boarding timing terminal for an offshore wind power operation and maintenance ship comprises a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the following steps are implemented:

[0013] Obtain weather forecast information at the forecast time and build multiple different ship-wind turbine coupling models;

[0014] determining input parameters and input conditions of the plurality of different ship-wind turbine coupling models based on the weather forecast information;

[0015] Calculate the ship motion response amplitude operators and the ship top point lifting amplitude prediction sequence of the multiple different ship-wind turbine coupling models at each degree of freedom at the prediction time based on the input parameters and the input conditions;

[0016] Whether the predicted time is suitable for the boarding operation of the ship is determined according to the ship motion response amplitude operator under each degree of freedom and the predicted sequence of the lifting amplitude of the ship's top docking point.

[0017] The beneficial effects of the present invention are: obtaining weather forecast information at the forecast time, and constructing multiple different ship-wind turbine coupling models, determining input parameters and input conditions of multiple different ship-wind turbine coupling models based on the weather forecast information, calculating ship motion response amplitude operators and ship top berthing point rise and fall amplitude forecast sequences of multiple different ship-wind turbine coupling models at each degree of freedom at the forecast time based on the input parameters and input conditions, determining whether the forecast time is suitable for the ship's boarding operation according to the ship motion response amplitude operators and ship top berthing point rise and fall amplitude forecast sequences under each degree of freedom, by constructing multiple different ship-wind turbine coupling models, and using the weather forecast information at the forecast time to determine the input parameters and input conditions of the model, thereby taking into account the differences in the adaptability and response of different ships to sea conditions, and using the ship motion response amplitude operators and ship top berthing point rise and fall amplitude forecast sequences under each degree of freedom for different ships to determine whether the forecast time is an operation window period, thereby more accurately and effectively determining the boarding operation time of the offshore wind power operation and maintenance ship. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a flowchart of the steps of a method for selecting a time to board an offshore wind power operation and maintenance vessel according to an embodiment of the present invention;

[0019] Figure 2 This is a structural schematic diagram of a boarding timing terminal for an offshore wind power operation and maintenance vessel according to an embodiment of the present invention;

[0020] Figure 3 It is a schematic diagram of a ship-wind turbine coupling model in a method for boarding a wind power operation and maintenance ship according to an embodiment of the present invention. DETAILED DESCRIPTION

[0021] In order to explain the technical content, achieved objectives and effects of the present invention in detail, the following is an explanation in conjunction with the implementation modes and the accompanying drawings.

[0022] Please refer to Figure 1 , a method for choosing a time to board an offshore wind power operation and maintenance vessel, comprising the steps of:

[0023] Obtain weather forecast information at the forecast time and build multiple different ship-wind turbine coupling models;

[0024] determining input parameters and input conditions of the plurality of different ship-wind turbine coupling models based on the weather forecast information;

[0025] Calculate the ship motion response amplitude operators and the ship top point lifting amplitude prediction sequence of the multiple different ship-wind turbine coupling models at each degree of freedom at the prediction time based on the input parameters and the input conditions;

[0026] Whether the predicted time is suitable for the boarding operation of the ship is determined according to the ship motion response amplitude operator under each degree of freedom and the predicted sequence of the lifting amplitude of the ship's top docking point.

[0027] From the above description, it can be seen that the beneficial effects of the present invention are: obtaining weather forecast information at the forecast time, and constructing multiple different ship-wind turbine coupling models, determining the input parameters and input conditions of multiple different ship-wind turbine coupling models based on the weather forecast information, calculating the ship motion response amplitude operators and the ship top berthing point rise and fall amplitude forecast sequences of multiple different ship-wind turbine coupling models at each degree of freedom at the forecast time based on the input parameters and input conditions, determining whether the forecast time is suitable for the ship's boarding operation according to the ship motion response amplitude operators and the ship top berthing point rise and fall amplitude forecast sequences under each degree of freedom, by constructing multiple different ship-wind turbine coupling models, and using the weather forecast information at the forecast time to determine the input parameters and input conditions of the model, thereby taking into account the differences in the adaptability and response of different ships to sea conditions, and using the ship motion response amplitude operators and the ship top berthing point rise and fall amplitude forecast sequences under each degree of freedom for different ships to determine whether the forecast time is an operation window period, thereby more accurately and effectively determining the boarding operation time of the offshore wind power operation and maintenance ship.

[0028] Furthermore, the constructing of a plurality of different ship-wind turbine coupling models includes:

[0029] Obtain the overall length, design draft, width, displacement and depth of several different vessels, and obtain the 3D model of the wind turbine tower;

[0030] A plurality of different ship-wind turbine coupling models are constructed based on the total length, designed draft, molded width, molded displacement and molded depth of the plurality of different ships and the three-dimensional model of the wind turbine tower.

[0031] From the above description, it can be seen that based on the total length, design draft, width, displacement and depth of multiple different ships and the three-dimensional model of the wind turbine tower, multiple different ship-wind turbine coupling models that are more in line with reality can be constructed, which is convenient for more accurate determination of the boarding operation time of the offshore wind power operation and maintenance ship in the subsequent process.

[0032] Furthermore, the weather forecast information includes the average wind speed over ten meters above the sea surface, the effective wave height of mixed waves, the velocity and direction of surface currents, and the water level relative to the average sea level;

[0033] The step of determining the input parameters and input conditions of the plurality of different ship-wind turbine coupling models based on the meteorological forecast information includes:

[0034] Convert the ten-meter average wind speed on the sea surface into the wind speed at the height of the ship;

[0035] Converting the effective wave height of the mixed wave into the frequency spectrum distribution of the wave;

[0036] Using the wind speed at the height of the ship and the frequency spectrum distribution of the waves as input parameters of the plurality of different ship-wind turbine coupling models;

[0037] The surface flow velocity, the surface flow direction and the water level value relative to the mean sea level are used as input conditions for the multiple different ship-wind turbine coupling models.

[0038] Furthermore, converting the ten-meter average wind speed on the sea surface into the wind speed at the height of the ship comprises:

[0039]

[0040] Z>0;

[0041]

[0042] In the formula, Indicates the wind speed at ship altitude, represents the average wind speed over ten meters above the sea surface, v represents the shear velocity, and Z represents the height.

[0043] Furthermore, converting the effective wave height of the mixed wave into the frequency spectrum distribution of the wave comprises:

[0044]

[0045] In the formula, S(ω) represents the frequency spectrum distribution of the wave, H s It represents the effective wave height of the mixed wave, T Z represents the zero-crossing period, and ω represents the model input period.

[0046] From the above description, it can be seen that the ten-meter average wind speed on the sea surface is converted into the wind speed at the ship height, and the effective wave height of the mixed wave is converted into the spectral distribution of the wave. Since the time-varying characteristics of the surface flow velocity, surface flow direction and water level relative to the average sea level during the operation and maintenance docking process are usually smaller than those of wind and waves, the results of numerical forecasts are directly used as model input conditions, thereby combining multiple different ship-wind turbine coupling models with the predicted meteorological information to improve the reliability of determining the boarding operation time.

[0047] Furthermore, after determining the input parameters and input conditions of the plurality of different ship-wind turbine coupling models based on the weather forecast information, the method further includes:

[0048] Determining the friction coefficient between the bow rubber structure of the vessel and the wind turbine and the leaning force of the vessel;

[0049] Using the friction coefficient and the leaning force as operation scenario parameters of the multiple different ship-wind turbine coupling models;

[0050] The calculation of the ship motion response amplitude operators of the multiple different ship-wind turbine coupling models at each degree of freedom at the forecast time and the ship top point lifting amplitude forecast sequence based on the input parameters and the input conditions includes:

[0051] The ship motion response amplitude operators of the multiple different ship-wind turbine coupling models at each degree of freedom at the forecast time and the ship top approach point lifting amplitude forecast sequence are calculated based on the input parameters, the input conditions and the operation scenario parameters.

[0052] From the above description, it can be seen that the friction coefficient and the supporting force are also used as operation scenario parameters of multiple different ship-wind turbine coupling models, which is closer to the actual operation conditions of offshore wind power operation and maintenance vessels, thereby improving the accuracy of determining the boarding operation time.

[0053] Further, the calculation of the ship motion response amplitude operators of the multiple different ship-wind turbine coupling models at each degree of freedom at the forecast time and the ship top point lifting amplitude forecast sequence based on the input parameters, the input conditions and the operation scenario parameters includes:

[0054] Calculate the ship motion response amplitude operators of the multiple different ship-wind turbine coupling models at each degree of freedom at the forecast time according to the input parameters, the input conditions and the operation scenario parameters;

[0055] Determining maximum points that meet preset conditions from the ship motion response amplitude operators at each degree of freedom at the forecast time, and obtaining frequency domain evaluation parameters of multiple different ships according to the maximum points;

[0056] Simulating the docking state of the ship for the plurality of different ship-wind turbine coupling models to obtain a heave time series of the docking point corresponding to the forecast time;

[0057] Select the maximum heave amplitude value from the top-rest point heave time series to obtain a plurality of different ship top-rest point heave amplitude prediction sequences;

[0058] The step of determining whether the predicted time is suitable for the boarding operation of the ship according to the ship motion response amplitude operator under each degree of freedom and the ship top docking point lifting amplitude prediction sequence comprises:

[0059] Whether the predicted time is suitable for boarding operations of the ship is determined according to the frequency domain evaluation parameters of the multiple different ships and the multiple different ship top docking point rise and fall amplitude prediction sequences.

[0060] Further, the calculating of the ship motion response amplitude operators of the plurality of different ship-wind turbine coupling models at each degree of freedom at the forecast time according to the input parameters, the input conditions and the operation scenario parameters includes:

[0061]

[0062] In the formula, RAO k (f) represents the ship motion response amplitude operator under the degree of freedom k at the prediction time, H(jω) represents the response function, S y (ω) represents the response spectral density function, S x (ω) represents the wave spectral density function.

[0063] From the above description, it can be seen that the ship motion response amplitude operator under each degree of freedom at the forecast time represents the relationship between the spectral density of the load elements on the hull and the motion spectral density of the hull. The frequency domain evaluation parameters of multiple different ships are obtained according to the maximum points. The maximum points represent that the corresponding frequencies of each degree of freedom of the ship under the wave at this moment are greatly affected. Together with multiple different ship top point lifting and lowering amplitude forecast sequences, the boarding operation time can be accurately determined.

[0064] Further, the determining whether the predicted time is suitable for the boarding operation of the ship according to the frequency domain evaluation parameters of the multiple different ships and the multiple different ship top docking point rise and fall amplitude prediction sequences includes:

[0065] Determine the maximum permissible lift and lowering amplitudes and permissible frequency limits for a number of different vessels;

[0066] Obtaining a preset threshold interval according to the allowable frequency limit and a preset allowable error of the vessel in any degree of freedom;

[0067] Determine whether the forecast sequence of the rise and fall amplitude of the ship's top berthing point is less than the maximum allowable rise and fall amplitude, and whether the frequency domain evaluation parameter of the ship does not belong to the preset threshold interval; if both are true, determine that the forecast time is suitable for boarding operations of the ship corresponding to the forecast sequence of the rise and fall amplitude of the ship's top berthing point; otherwise, determine that the forecast time is not suitable for boarding operations of the ship corresponding to the forecast sequence of the rise and fall amplitude of the ship's top berthing point.

[0068] From the above description, it can be seen that when the forecast sequence of the rise and fall amplitude of the ship's top berthing point is less than the maximum allowable rise and fall amplitude, and the frequency domain evaluation parameters of the ship do not belong to the preset threshold interval, it means that the forecast time meets the conditions for boarding operations. Otherwise, it does not meet the conditions for boarding operations of the corresponding ship, so as to more reasonably and accurately determine the time for boarding operations of the offshore wind power operation and maintenance ship.

[0069] Please refer to Figure 2Another embodiment of the present invention provides a boarding timing terminal for an offshore wind power operation and maintenance ship, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements each step of the above-mentioned boarding timing method for an offshore wind power operation and maintenance ship when executing the computer program.

[0070] The above-mentioned method and terminal for boarding an offshore wind power operation and maintenance ship of the present invention can be applied to the operation and maintenance scenario of an offshore wind farm, and the following is an explanation through specific implementation methods:

[0071] Please refer to Figure 1 and Figure 3 , Embodiment 1 of the present invention is:

[0072] A method for selecting a time to board an offshore wind power operation and maintenance vessel comprises the following steps:

[0073] S1. Obtain weather forecast information at the forecast time and build multiple different ship-wind turbine coupling models, including:

[0074] S11. Obtaining weather forecast information at the forecast time.

[0075] Specifically, the weather forecast information at the forecast time is obtained using a traditional weather forecast method.

[0076] In an optional embodiment, the weather forecast information includes the ten-meter average wind speed on the sea surface, the effective wave height of mixed waves, the surface current velocity, the surface current direction and the water level value relative to the average sea level;

[0077] In another optional implementation, the weather forecast information further includes gust wind speed at a height of ten meters, gust wind direction at a height of ten meters, effective wave height of wind waves, and effective wave height of swell waves.

[0078] S12. Obtain the total length, designed draft, width, displacement and depth of multiple different ships, and obtain the three-dimensional model of the wind turbine tower.

[0079] S13, constructing a plurality of different ship-wind turbine coupling models based on the total length, designed draft, molded breadth, molded displacement and molded depth of the plurality of different ships and the three-dimensional model of the wind turbine tower.

[0080] In an optional embodiment, Openfoam (an object-oriented CFD library written in C++) or CAE software is used to build multiple different ship-wind turbine coupling models based on the total length, design draft, beam, displacement and depth of the multiple different ships and the three-dimensional model of the wind turbine tower, such as Figure 3 As shown, Figure 3 Any kind of ship-wind turbine coupling model is shown.

[0081] S2. Determining input parameters and input conditions of the plurality of different ship-wind turbine coupling models based on the weather forecast information, specifically comprising:

[0082] S21, converting the ten-meter average wind speed on the sea surface into the wind speed at the height of the ship, specifically:

[0083]

[0084] Z>0;

[0085]

[0086] In the formula, Indicates the wind speed at ship altitude, represents the average wind speed over ten meters above the sea surface, v represents the shear velocity, and Z represents the height.

[0087] In an optional implementation, the gust wind speed at a height of ten meters and the gust wind direction at a height of ten meters are used as a measurement index of the uncertainty of the calculation result of the wind speed at the height of the ship, and the measurement index calculation is specifically as follows:

[0088] In the formula, Uc st represents the uncertainty measure of wind speed at forecast time t, represents the average wind speed at the forecast time t, V i It represents n1 measured wind speeds within the forecast time t, and n1 represents the number of measured wind speeds within the forecast time t.

[0089] In this way, the standard deviation of wind speed at each predicted moment is calculated. The forecast value is generally once an hour, and the standard deviation of the measured wind speed and the forecast at that moment is calculated.

[0090]

[0091] In the formula, Uc dt represents the uncertainty measure of wind direction at forecast time t, Δθ i represents the standard deviation of wind direction, and n2 represents the number of wind direction values ​​within the forecast time t.

[0092]

[0093] This formula is the calculation formula for the standard deviation of wind direction, θ i Indicates the wind direction at a certain moment in a period of time, ranging from -180° or 0-360°. It represents the average wind speed at the forecast time t. The formula limits the standard deviation of wind direction to 180°, which means the size of the part where the angle between the wind direction and the average wind direction at each moment is less than 180°.

[0094] S22, converting the effective wave height of the mixed wave into the frequency spectrum distribution of the wave, specifically:

[0095]

[0096] In the formula, S(ω) represents the frequency spectrum distribution of the wave, H s It represents the effective wave height of the mixed wave, T Z represents the zero-crossing period, and ω represents the model input period.

[0097] In an optional embodiment, the Pierson Moskowitz spectrum calculation method (wave spectrum method) is used to convert the mixed wave significant wave height into the wave spectrum distribution.

[0098] In an optional implementation, the spectrum peak period, effective period, end frequency and start frequency are determined according to the zero-crossing period to describe the random fluctuation characteristics of the wave, specifically:

[0099] T p =1.408T Z ;

[0100] T m =1.086T Z ;

[0101]

[0102]

[0103] Where, T p represents the peak period, T m Indicates the effective period, T0 indicates the starting frequency, and T1 indicates the ending frequency.

[0104] In an optional implementation, a wind wave proportion index is determined according to the mixed wave significant wave height and the wind wave significant wave height, and a swell wave proportion index is determined according to the mixed wave significant wave height and the swell wave significant wave height, so as to calculate the difference between the measured value and the forecast, specifically:

[0105]

[0106]

[0107] Where Hwind s Indicates the significant wave height of the wind wave, Hswell s It represents the significant wave height of the swell.

[0108] S23. Using the wind speed at the height of the ship and the frequency spectrum distribution of the waves as input parameters of the multiple different ship-wind turbine coupling models.

[0109] In an optional implementation, the ship height wind speed, the wave spectrum distribution, the spectrum peak period, the effective period, the end frequency and the start frequency are used as input parameters of the multiple different ship-wind turbine coupling models.

[0110] S24, using the surface flow velocity, the surface flow direction and the water level value relative to the mean sea level as input conditions for the multiple different ship-wind turbine coupling models.

[0111] S3. Determine the friction coefficient between the bow rubber structure of the vessel and the wind turbine and the leaning force of the vessel.

[0112] S4. Using the friction coefficient and the leaning force as operation scenario parameters of the multiple different ship-wind turbine coupling models.

[0113] S3. Calculate, based on the input parameters and the input conditions, the ship motion response amplitude operators of the multiple different ship-wind turbine coupling models at each degree of freedom at the forecast time and the ship top approach point lifting amplitude forecast sequence.

[0114] Specifically, based on the input parameters, the input conditions and the operation scenario parameters, the ship motion response amplitude operators of the multiple different ship-wind turbine coupling models at each degree of freedom at the forecast time and the ship top point rise and fall amplitude forecast sequence are calculated. This process calculates the multi-factor load frequency domain characteristics of the ship under the forecast sea conditions.

[0115] In general, the degrees of freedom of ships and wind turbines can be described as:

[0116]

[0117]

[0118]

[0119]

[0120] Where M represents the mass matrix, represents the first time derivative, represents the second time derivative, C(ν) represents the centrifugal force and Coriolis force matrix, v′ represents the speed or angular velocity of the six degrees of freedom, including speed u, o, w, angular velocity p, q, r, D represents the resistance matrix, G represents the restoring force matrix, η represents the phase of the six degrees of freedom, including phase x, y, z, θ and Ψ, F represents external forces, such as wave forces, J(η) represents the Jacobian matrix of phase η, Represents the real number space.

[0121] S31, calculating the ship motion response amplitude operators of the multiple different ship-wind turbine coupling models at each degree of freedom at the forecast time according to the input parameters, the input conditions and the operation scenario parameters, specifically:

[0122]

[0123] In the formula, RAO k (f) represents the ship motion response amplitude operator under the degree of freedom k at the forecast time, k = 1, 2, ... 6, H(jω) represents the response function, S y (ω) represents the response spectral density function, S x (ω) represents the wave spectral density function.

[0124] There are 6 degrees of freedom, namely RAO k (f) Includes surge RAO1(f), sway RAO2(f), heave RAO3(f), pitch RAO4(f), roll RAO5(f) and bow RAO6(f).

[0125] S32, respectively determine the maximum value points f that meet the preset conditions from the ship motion response amplitude operators under each degree of freedom at the forecast time kj , j = 1, 2, ... represents the number of maximum points, and the frequency domain evaluation parameters {f kjt}, t represents the forecast time;

[0126] In an optional implementation manner, the preset condition is specifically:

[0127]

[0128]

[0129] S33, simulating the docking state of the ship for the plurality of different ship-wind turbine coupling models to obtain a heave time series of the docking point corresponding to the forecast time;

[0130] Specifically, a fixed coefficient is used in the relationship between force and strain, and the propeller thrust when the speed is 0 is taken as the motion load applied to the hull to simulate the ship's leaning state. A moment forecast value can simulate a time series of the rise and fall of the leaning point with a time resolution of 1s and a duration of 1 hour.

[0131] S34, selecting the maximum heave amplitude value A from the top point heave time series i, and obtain multiple different ship top point rise and fall amplitude forecast sequences {A it}.

[0132] S4. Determine whether the predicted time is suitable for boarding the ship according to the ship motion response amplitude operator under each degree of freedom and the predicted sequence of the lifting and lowering amplitude of the ship's top docking point.

[0133] Specifically, determining whether the predicted time is suitable for the boarding operation of the ship according to the frequency domain evaluation parameters of the multiple different ships and the multiple different ship top docking point rise and fall amplitude prediction sequences specifically includes:

[0134] S41. Determine the maximum allowable lifting range As for multiple different ships i And the allowed frequency limit f ik ;

[0135] S42: Obtain a preset threshold interval according to the allowable frequency limit and a preset allowable error of the ship in any degree of freedom.

[0136] Among them, the preset threshold interval is [f ik -ε ik ,f ik +ε ik ],ε ik Indicates the allowable error of the preset ship in any degree of freedom.

[0137] S43, judging whether the predicted sequence of the lifting amplitude of the vessel's top berthing point is less than the maximum allowable lifting amplitude, that is, {A it}<As i , and whether the frequency domain evaluation parameter of the vessel does not belong to the preset threshold interval, that is, If both are true, it is determined that the predicted time is suitable for boarding the ship corresponding to the predicted sequence of the rise and fall amplitude of the ship's top berthing point; otherwise, it is determined that the predicted time is not suitable for boarding the ship corresponding to the predicted sequence of the rise and fall amplitude of the ship's top berthing point.

[0138] Please refer to Figure 2 , Embodiment 2 of the present invention is:

[0139] A boarding timing terminal for an offshore wind power operation and maintenance vessel comprises a memory, a processor and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, each step of the boarding timing method for an offshore wind power operation and maintenance vessel in Embodiment 1 is implemented.

[0140] In summary, the present invention provides a method and terminal for selecting the timing of boarding an offshore wind power operation and maintenance ship, which obtains weather forecast information at the forecast time, and constructs a plurality of different ship-wind turbine coupling models, determines the input parameters and input conditions of the plurality of different ship-wind turbine coupling models based on the weather forecast information, calculates the ship motion response amplitude operators of the plurality of different ship-wind turbine coupling models at each degree of freedom at the forecast time and the forecast sequence of the lifting amplitude of the ship's top berthing point based on the input parameters and the input conditions, determines whether the forecast time is suitable for the boarding operation of the ship according to the ship motion response amplitude operators of each degree of freedom and the forecast sequence of the lifting amplitude of the ship's top berthing point, and constructs a plurality of different The ship-wind turbine coupling model is proposed, and the meteorological forecast information at the forecast time is used to determine the input parameters and input conditions of the model. In this way, the differences in the adaptability and response of different ships to sea conditions are taken into account. The ship motion response amplitude operator under each degree of freedom and the forecast sequence of the lifting and lowering amplitude of the ship's berthing point are used to determine whether the forecast time is suitable for the ship's boarding operation for different ships, so as to more accurately and effectively determine the boarding operation time of the offshore wind power operation and maintenance ship. In addition, the friction coefficient and the berthing force are used as the operation scenario parameters of multiple different ship-wind turbine coupling models, which are closer to the actual operation conditions of the offshore wind power operation and maintenance ship, and improve the accuracy of the determination of the boarding operation time.

[0141] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent transformations made using the contents of the present invention's specification and drawings, or directly or indirectly applied in related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A method for selecting a time to board an offshore wind power operation and maintenance vessel, characterized in that: Includes steps: Obtain weather forecast information at the forecast time and build multiple different ship-wind turbine coupling models; determining input parameters and input conditions of the plurality of different ship-wind turbine coupling models based on the weather forecast information; Calculate the ship motion response amplitude operators and the ship top point lifting amplitude prediction sequence of the multiple different ship-wind turbine coupling models at each degree of freedom at the prediction time based on the input parameters and the input conditions; Determining whether the predicted time is suitable for boarding the ship according to the ship motion response amplitude operator under each degree of freedom and the predicted sequence of the lifting amplitude of the ship's top docking point; The weather forecast information includes the average wind speed over 10 meters above the sea surface, the effective wave height of mixed waves, the velocity and direction of surface currents, and the water level relative to the average sea level; The step of determining the input parameters and input conditions of the plurality of different ship-wind turbine coupling models based on the meteorological forecast information includes: Convert the ten-meter average wind speed on the sea surface into the wind speed at the height of the ship; Converting the effective wave height of the mixed wave into the frequency spectrum distribution of the wave; Using the wind speed at the height of the ship and the frequency spectrum distribution of the waves as input parameters of the plurality of different ship-wind turbine coupling models; Using the surface current velocity, the surface current direction and the water level value relative to the mean sea level as input conditions for the plurality of different ship-wind turbine coupling models; The converting the ten-meter average wind speed on the sea surface into the wind speed at the height of the ship comprises: ； ； ； In the formula, Indicates the wind speed at ship altitude, represents the average wind speed over ten meters above the sea surface, v represents the shear velocity, and Z represents the height.

2. A method for choosing a time to board an offshore wind power operation and maintenance vessel according to claim 1, characterized in that: The construction of multiple different ship-wind turbine coupling models includes: Obtain the overall length, design draft, width, displacement and depth of several different vessels, and obtain the 3D model of the wind turbine tower; A plurality of different ship-wind turbine coupling models are constructed based on the total length, designed draft, molded width, molded displacement and molded depth of the plurality of different ships and the three-dimensional model of the wind turbine tower.

3. The method for boarding an offshore wind power operation and maintenance vessel according to claim 1, characterized in that: The converting of the effective wave height of the mixed wave into the spectrum distribution of the wave comprises: ； In the formula, represents the frequency spectrum distribution of the wave, Indicates the effective wave height of the mixed wave, Indicates zero-crossing period, Represents the model input period.

4. A method for boarding an offshore wind power operation and maintenance vessel according to claim 1, characterized in that: After determining the input parameters and input conditions of the plurality of different ship-wind turbine coupling models based on the weather forecast information, the method further includes: Determining the friction coefficient between the bow rubber structure of the vessel and the wind turbine and the leaning force of the vessel; Using the friction coefficient and the leaning force as operation scenario parameters of the multiple different ship-wind turbine coupling models; The calculation of the ship motion response amplitude operators of the multiple different ship-wind turbine coupling models at each degree of freedom at the forecast time and the ship top point lifting amplitude forecast sequence based on the input parameters and the input conditions includes: The ship motion response amplitude operators of the multiple different ship-wind turbine coupling models at each degree of freedom at the forecast time and the ship top approach point lifting amplitude forecast sequence are calculated based on the input parameters, the input conditions and the operation scenario parameters.

5. A method for choosing a time to board an offshore wind power operation and maintenance vessel according to claim 4, characterized in that: The calculation of the ship motion response amplitude operators of the multiple different ship-wind turbine coupling models at each degree of freedom at the forecast time and the ship top point lifting amplitude forecast sequence based on the input parameters, the input conditions and the operation scenario parameters includes: Calculate the ship motion response amplitude operators of the multiple different ship-wind turbine coupling models at each degree of freedom at the forecast time according to the input parameters, the input conditions and the operation scenario parameters; Determining maximum points that meet preset conditions from the ship motion response amplitude operators at each degree of freedom at the forecast time, and obtaining frequency domain evaluation parameters of multiple different ships according to the maximum points; Simulating the docking state of the ship for the plurality of different ship-wind turbine coupling models to obtain a heave time series of the docking point corresponding to the forecast time; Select the maximum heave amplitude value from the top-rest point heave time series to obtain a plurality of different ship top-rest point heave amplitude prediction sequences; The step of determining whether the predicted time is suitable for the boarding operation of the ship according to the ship motion response amplitude operator under each degree of freedom and the ship top docking point lifting amplitude prediction sequence comprises: Whether the predicted time is suitable for boarding operations of the ship is determined according to the frequency domain evaluation parameters of the multiple different ships and the multiple different ship top docking point rise and fall amplitude prediction sequences.

6. A method for choosing a time to board an offshore wind power operation and maintenance vessel according to claim 5, characterized in that: The calculating of the ship motion response amplitude operators of the plurality of different ship-wind turbine coupling models at each degree of freedom at the forecast time according to the input parameters, the input conditions and the operation scenario parameters comprises: RAO k (f) ; In the formula, RAO k (f) represents the ship motion response amplitude operator under the degree of freedom k at the prediction time, represents the response function, represents the response spectral density function, Represents the wave spectral density function.

7. A method for choosing a time to board an offshore wind power operation and maintenance vessel according to claim 5, characterized in that: The step of determining whether the predicted time is suitable for boarding the ship according to the frequency domain evaluation parameters of the multiple different ships and the multiple different ship top docking point rise and fall amplitude prediction sequences comprises: Determine the maximum permissible lift and lowering amplitudes and permissible frequency limits for a number of different vessels; Obtaining a preset threshold interval according to the allowable frequency limit and a preset allowable error of the vessel in any degree of freedom; Determine whether the forecast sequence of the rise and fall amplitude of the ship's top berthing point is less than the maximum allowable rise and fall amplitude, and whether the frequency domain evaluation parameter of the ship does not belong to the preset threshold interval; if both are true, determine that the forecast time is suitable for boarding operations of the ship corresponding to the forecast sequence of the rise and fall amplitude of the ship's top berthing point; otherwise, determine that the forecast time is not suitable for boarding operations of the ship corresponding to the forecast sequence of the rise and fall amplitude of the ship's top berthing point.

8. A boarding timing terminal for an offshore wind power operation and maintenance ship, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, each step of the method for timing boarding of an offshore wind power operation and maintenance vessel according to any one of claims 1 to 7 is implemented.

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