A totally enclosed oscillating buoy device and its control method, wave power system

Abstract

The application discloses a fully-closed oscillating floating body device and a control method thereof and a wave power generation system, wherein the fully-closed oscillating floating body device comprises a closed shell, a PTO mover assembly, a PTO main shaft and an elastic assembly which are located inside the closed shell; the PTO mover assembly is sleeved on the PTO main shaft and can move reciprocally along the axial direction of the PTO main shaft; the two ends of the PTO main shaft are connected with the inner wall of the closed shell; one end of the elastic assembly is connected with the PTO mover assembly, and the other end is connected with the inner wall of the closed shell along the axial direction of the PTO main shaft; when the closed shell is impacted by waves, the PTO mover assembly is driven to move by the elastic assembly to generate electricity. By arranging the PTO mover assembly, the PTO main shaft and the elastic assembly inside the fully-closed shell, the problems of structural wear and efficiency reduction caused by a sealing system are avoided, and the reliability and high efficiency of the wave power generation device are greatly improved.

Description

Technical Field

[0001] This invention relates to the field of marine power generation technology, and in particular to a fully enclosed oscillating floating body device and its control method, and a wave power generation system. Background Technology

[0002] Wave energy is a clean and renewable energy source. Compared to wind and solar energy, it exhibits less variability per unit time, better predictability, and higher energy density. While my country possesses abundant marine resources, application conditions vary across different sea areas. Existing oscillating floating wave energy generation equipment is structurally complex, difficult to manufacture, and has low power generation efficiency. Most devices require solutions to friction and dynamic sealing issues. Furthermore, tidal range is a significant problem in wave energy generation. Regarding the active nature of energy harvesting, most energy extraction methods rely primarily on passive absorption without incorporating active control to capture more energy. Therefore, it is urgent to address issues related to friction, dynamic sealing, tidal range, and passive absorption to improve the efficiency of wave energy generation equipment.

[0003] There are two basic structures for existing oscillating floating wave power generation devices. The first is a single floating body + fixed platform structure, where the PTO power generation unit needs to be fixed to a fixed support structure. The second utilizes the relative motion between the (upper) floating body and the support mechanism to generate electricity, with the support mechanism using tension mooring for fixation, such as... Figure 1 As shown. Dynamic seal as Figure 2 As shown, the yellow part represents the entire PTO section. The dynamic seal is connected to the PTO, which directly increases the energy consumption of the overall PTO structure and reduces its efficiency. Under 24-hour linear reciprocating action, the wear and tear of the dynamic seal is also significant, and its lifespan is difficult to assess.

[0004] However, the above-mentioned wave power generation methods have the following problems: 1. They require dynamic sealing, which increases friction, makes manufacturing and assembly difficult, etc.; 2. Most technical solutions rely on passive energy absorption, resulting in low energy capture efficiency; 3. The energy transfer structure is mostly rigid, leading to serious wear and lifespan issues; 4. They are basically single-degree-of-freedom energy capture, which results in energy loss; 5. Traditional oscillating floating devices are greatly affected by tides in terms of power generation capacity. Summary of the Invention

[0005] The purpose of this invention is to provide a fully enclosed oscillating floating body device and its control method, as well as a wave power generation system. By placing the PTO mover assembly, PTO main shaft, and elastic assembly inside a fully enclosed shell, the above structure fundamentally avoids the problems of dynamic sealing structures, reduced energy absorption efficiency, and wear.

[0006] To address the aforementioned technical problems, a first aspect of this invention provides a fully enclosed oscillating floating body device for wave power generation, comprising: an enclosed outer shell and a PTO mover assembly, a PTO main shaft, and an elastic assembly located inside the enclosed outer shell;

[0007] The PTO actuator assembly is sleeved on the PTO spindle and can reciprocate along the axis of the PTO spindle.

[0008] The two ends of the PTO spindle are connected to the inner wall of the enclosed housing;

[0009] One end of the elastic component is connected to the PTO mover assembly, and the other end is connected to the inner wall of the enclosed housing along the axial direction of the PTO main shaft.

[0010] When the enclosed shell is subjected to wave impact, the elastic component drives the PTO actuator to move and generate electricity.

[0011] Furthermore, the elastic component includes a first elastic element and a second elastic element, which are respectively disposed on both sides of the PTO mover assembly along the PTO main shaft axis;

[0012] One end of the first elastic element is connected to the PTO mover assembly, and the other end is connected to the inner wall of one side of the enclosed housing along the PTO main shaft axial direction.

[0013] One end of the second elastic element is connected to the PTO mover assembly, and the other end is connected to the inner wall of the other side of the enclosed housing along the PTO main shaft axis.

[0014] Furthermore, the inner wall of the enclosed outer shell is provided with a first float shoulder groove and a second float shoulder groove with an annular structure at the connection between the inner wall of the enclosed outer shell and the PTO main shaft.

[0015] One end of the first elastic member abuts against the PTO mover assembly, and the other end abuts against the first float shoulder groove;

[0016] One end of the second elastic member abuts against the PTO mover assembly, and the other end abuts against the shoulder groove of the second float.

[0017] Furthermore, the first elastic element and the second elastic element are annular structures sleeved on the PTO spindle;

[0018] The first elastic element and the second elastic element are respectively spaced at a preset distance from the PTO spindle.

[0019] Furthermore, the elastic component includes at least one of a compression tension spring, a torsion spring, an air spring, and a rubber elastomer.

[0020] Furthermore, the fully enclosed oscillating buoy device also includes a control component;

[0021] The control components are disposed inside the outer shell of the float;

[0022] The control component is electrically connected to the PTO mover assembly and is used to control the fully enclosed oscillating float device to generate electricity based on the status information of the PTO mover assembly.

[0023] Furthermore, when the waves are of a regular shape, the control component actively controls the PTO actuator component through a linear feedback control mode, causing the enclosed shell to resonate with the waves.

[0024] When the waves are irregular in shape, the control component actively controls the PTO actuator component through the optimal control mode, so that the enclosed shell resonates with the waves.

[0025] Furthermore, the control component controls the PTO actuator component through a linear feedback control mode, including:

[0026] The control component acquires the travel distance and speed of the PTO mover assembly relative to the PTO main shaft along its axial direction, and calculates the thrust value f of the PTO mover assembly based on the travel distance and speed. pto ;

[0027] The thrust value f of the PTO mover assembly pto The calculation formula is:

[0028] f pto =R pto v+K pto z;

[0029] Where v is the moving speed of the PTO mover assembly relative to the PTO main shaft; z is the initial moving distance of the PTO mover assembly relative to the axial direction of the PTO main shaft; and R pto The controllable damping of the PTO mover assembly is determined based on the radiation damping of the buoy, K. pto The controllable elasticity of the PTO mover assembly is determined based on the buoyancy coefficient and radiation mass of the float.

[0030] Based on the thrust value of the PTO mover assembly, the operation of the PTO mover assembly is controlled to adjust the motion state of the enclosed shell so that it resonates with the waves.

[0031] Furthermore, the control of the optimal control mode by the control component over the PTO actuator includes:

[0032] The thrust value of the PTO mover assembly is calculated based on the optimization algorithm.

[0033] The formula for calculating the thrust value of the PTO mover assembly is as follows:

[0034]

[0035] x k+1 =Ax k +B u u k +B w w k ;

[0036] |C v x k |≤v max ;

[0037] |C z x k |≤z max ;

[0038] |u k |≤f max ;

[0039] Where k represents the discrete control cycle number, k = 0, ..., N, where 0 represents the current time, and 1, ..., N represent the subsequent N control cycles, x k A vector, A, B, includes the motion states of the PTO actuator assembly and the motion states of the enclosed housing. u B w These are matrices representing the control strategy model, u k w is the thrust value of the PTO mover assembly in the kth control cycle. k For the excitation force of the wave in the kth control cycle, C v x k C represents the moving speed of the PTO mover assembly relative to the PTO spindle. z x k v is the distance v is the initial position of the PTO mover assembly relative to the axial direction of the PTO spindle. max z is the maximum permissible speed value of the PTO actuator assembly. max f is the maximum permissible displacement value of the PTO actuator assembly. max The maximum permissible thrust value of the PTO mover assembly is given. The values ​​of the maximum permissible velocity value, the maximum permissible displacement value, and the maximum permissible thrust value are related to the structure and size of the float.

[0040] Accordingly, a second aspect of the present invention provides a control method for a fully enclosed oscillating float device, which generates electricity based on the aforementioned fully enclosed oscillating float device, comprising the following steps:

[0041] Acquire the wave morphology in the environment surrounding the power generation device;

[0042] When the waves are regular in shape, the control component actively controls the PTO mover component through a linear feedback control mode, so that the enclosed shell resonates with the waves.

[0043] When the waves are irregular in shape, the control component actively controls the PTO actuator component through the optimal control mode, so that the enclosed shell resonates with the waves.

[0044] Furthermore, when the wave has a regular shape, the control component controls the PTO actuator component through a linear feedback control mode, including:

[0045] The control component acquires the travel distance and speed of the PTO mover assembly relative to the PTO main shaft along its axial direction, and calculates the thrust value f of the PTO mover assembly based on the travel distance and speed. pto ;

[0046] The thrust value f of the PTO mover assembly pto The calculation formula is:

[0047] f pto =R pto v+K pto z;

[0048] Where v is the moving speed of the PTO mover assembly relative to the PTO main shaft; z is the initial moving distance of the PTO mover assembly relative to the axial direction of the PTO main shaft; and R pto The controllable damping of the PTO mover assembly is determined based on the radiation damping of the buoy, K. pto The controllable elasticity of the PTO mover assembly is determined based on the buoyancy coefficient and radiation mass of the float.

[0049] Furthermore, when the wave is irregular in shape, the optimal control mode for the control component to control the PTO actuator includes:

[0050] The thrust value of the PTO mover assembly is calculated based on the optimization algorithm.

[0051] The formula for calculating the thrust value of the PTO mover assembly is as follows:

[0052]

[0053] x k+1 =Ax k +B u u k +B w w k ;

[0054] |C v x k |≤v max ;

[0055] |C z x k |≤z max ;

[0056] |u k |≤f max ;

[0057] Where k represents the discrete control cycle number, k = 0, ..., N, where 0 represents the current time, and 1, ..., N represent the subsequent N control cycles, x k A vector, A, B, includes the motion states of the PTO actuator assembly and the motion states of the enclosed housing. u B w These are matrices representing the control strategy model, u k w is the thrust value of the PTO mover assembly in the kth control cycle. k For the excitation force of the wave in the kth control cycle, C v x k C represents the moving speed of the PTO mover assembly relative to the PTO spindle. z x k v is the distance v is the initial position of the PTO mover assembly relative to the axial direction of the PTO spindle. max z is the maximum permissible speed value of the PTO actuator assembly. max f is the maximum permissible displacement value of the PTO actuator assembly. max The maximum permissible thrust value of the PTO mover assembly is given. The values ​​of the maximum permissible velocity value, the maximum permissible displacement value, and the maximum permissible thrust value are related to the structure and size of the float.

[0058] Accordingly, a third aspect of the present invention provides a wave power generation system, including a plurality of the above-described fully enclosed oscillating buoy devices.

[0059] Furthermore, the wave power generation system also includes: a buoy fixing device;

[0060] The floating body fixing device is connected to the fully enclosed oscillating floating body device via a chain mooring method.

[0061] The above-described technical solutions of the embodiments of the present invention have the following beneficial technical effects:

[0062] 1. By housing the PTO mover assembly, PTO spindle, and elastic assembly within a fully enclosed housing, the above structure fundamentally avoids the problems of dynamic sealing structures, reduced energy extraction efficiency, and wear.

[0063] 2. The above-mentioned fully enclosed structure also reduces the problem of multi-axis components being difficult to align with each other and unable to guarantee coaxiality and parallelism, and avoids problems such as increased friction caused by differences in coaxiality and parallelism.

[0064] 3. The main direction of wave energy extraction is fixed by the above structure, and elastic components are used to absorb energy in other directions of freedom to improve the power generation efficiency of the device. It has the advantages of high energy extraction efficiency and simple structure.

[0065] 4. By maintaining a preset distance between the inner sidewalls of the first and second elastic elements fitted on the PTO main shaft and the sidewall of the PTO main shaft, when the waves drive the fully enclosed shell to move, the PTO mover assembly can use the energy of the lateral degree of freedom of the waves to generate electricity, thereby improving the efficiency and power generation of wave power generation.

[0066] 5. Obtain the wave pattern of the surrounding environment of the fully enclosed oscillating floating body device, and adopt different control strategies according to the wave pattern to control the PTO mover component to take corresponding actions. With the help of the elastic component, the fully enclosed shell is moved so that the fully enclosed shell resonates with the surrounding waves, thereby maximizing the efficiency of wave power generation. Attached Figure Description

[0067] Figure 1 This is a schematic diagram of the existing floating body and support structure power generation device;

[0068] Figure 2 This is a schematic diagram of the dynamic sealing structure of an existing power generation device;

[0069] Figure 3 This is a three-dimensional schematic diagram of the internal structure of the fully enclosed oscillating float device provided in an embodiment of the present invention;

[0070] Figure 4 This is a cross-sectional view of the fully enclosed oscillating float device provided in an embodiment of the present invention;

[0071] Figure 5 This is a schematic diagram of the wave power generation system provided in an embodiment of the present invention.

[0072] Figure label:

[0073] 1. Fully enclosed housing; 2. PTO mover assembly; 3. PTO spindle; 41. First elastic element; 42. Second elastic element; 51. First float shoulder groove; 52. Second float shoulder groove. Detailed Implementation

[0074] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to specific embodiments and the accompanying drawings. It should be understood that these descriptions are merely exemplary and not intended to limit the scope of the invention. Furthermore, descriptions of well-known structures and techniques are omitted in the following description to avoid unnecessarily obscuring the concept of the invention.

[0075] Please refer to Figure 3 and Figure 4 The first aspect of this invention provides a fully enclosed oscillating floating body device for wave power generation, comprising: an enclosed shell and a PTO mover assembly 2, a PTO main shaft 3, and an elastic component located inside the enclosed shell; the PTO mover assembly 2 is sleeved on the PTO main shaft 3 and can reciprocate along the axial direction of the PTO main shaft 3; both ends of the PTO main shaft 3 are connected to the inner wall of the enclosed shell; one end of the elastic component is connected to the PTO mover assembly 2, and the other end is connected to the inner wall of the enclosed shell along the axial direction of the PTO main shaft 3; when the enclosed shell is subjected to wave impact, the elastic component drives the PTO mover assembly 2 to move and generate electricity.

[0076] When the fully enclosed shell moves up and down and other degrees of freedom under the action of waves, generating inertial force, the inertial force generated will compress the elastic component to deform and store energy because the spring is connected to the floating shell. The PTO mover assembly 2 is connected to the other end of the elastic component, and the energy stored by the deformation of the elastic component will be released at this end, that is, generating elastic thrust, which drives the PTO mover assembly 2 to generate electricity.

[0077] The external structure of the aforementioned fully enclosed oscillating float device is a fully enclosed floating body, which fundamentally avoids the problems of dynamic sealing structures, reduced energy absorption efficiency, and wear.

[0078] In addition, the aforementioned fully enclosed structure reduces the problem of multi-axis components being difficult to align with each other and unable to guarantee coaxiality and parallelism, and avoids problems such as increased friction caused by differences in coaxiality and parallelism.

[0079] Specifically, the PTO mover assembly 2 in the fully enclosed oscillating float device may include various transmission and motion parts such as a moving gear, a linear motor mover, and a ball screw nut. Meanwhile, various supporting transmission and energy extraction fixing components such as a fixed gear, a fixed rack, a linear motor stator, and a fixed screw are collectively referred to as the PTO main shaft 3. The PTO mover assembly 2 and the PTO main shaft 3 together constitute the PTO power generation device. For example, various optional PTO forms can be achieved through ball screw + rotary motor, a separate linear motor, or gear and rack + rotary motor.

[0080] Optionally, in an optional embodiment of the present invention, the elastic component includes a first elastic element 41 and / or a second elastic element 42, wherein the first elastic element 41 and the second elastic element 42 are respectively disposed on both sides of the PTO mover assembly 2 along the axial direction of the PTO main shaft 3; one end of the first elastic element 41 is connected to the PTO mover assembly 2, and the other end is connected to the inner wall of one side of the enclosed housing along the axial direction of the PTO main shaft 3; one end of the second elastic element 42 is connected to the PTO mover assembly 2, and the other end is connected to the inner wall of the other side of the enclosed housing along the axial direction of the PTO main shaft 3.

[0081] The above embodiments include three optional configurations of the elastic component: a first elastic element 41 located only on the upper part of the PTO mover assembly 2; a second elastic element 42 located only on the lower part of the PTO mover assembly 2; and both a first elastic element 41 and a second elastic element 42 located on both sides of the PTO mover assembly 2. All three configurations can achieve the technical solution of the present invention.

[0082] In a preferred embodiment of the present invention, the elastic component includes a first elastic element 41 and a second elastic element 42, which simultaneously provide elastic thrust and elastic tension to the PTO mover assembly 2.

[0083] In addition, the inner wall of the enclosed shell is provided with a first float shoulder groove 51 and a second float shoulder groove 52 with an annular structure at the connection between the connection between the inner wall of the enclosed shell and the PTO main shaft 3; one end of the first elastic member 41 abuts against the PTO mover assembly 2 and the other end abuts against the first float shoulder groove 51; one end of the second elastic member 42 abuts against the PTO mover assembly 2 and the other end abuts against the second float shoulder groove 52.

[0084] The first float shoulder groove 51 and the second float shoulder groove 52 simultaneously lock the two ends of the PTO main shaft 3; one end of the first elastic element 41 is connected to the first float shoulder groove 51, and the other end is connected to the PTO mover assembly 2; one end of the second elastic element 42 is connected to the second float shoulder groove 52, and the other end is connected to the PTO mover assembly 2. Therefore, there is only one energy transfer link inside the fully enclosed shell 1 of the float, which is the first elastic element 41 and the second elastic element 42 of the elastic assembly. In addition, the elastic assembly also has the characteristic of buffer protection, thereby achieving the purpose of reducing wear and improving service life.

[0085] Furthermore, the first elastic element 41 and the second elastic element 42 are annular structures sleeved on the PTO spindle 3; the first elastic element 41 and the second elastic element 42 are respectively spaced at a preset distance from the PTO spindle 3.

[0086] Specifically, the elastic component and the PTO main shaft 3 are not tightly fitted together, but are separated by a certain distance. When the fully enclosed shell 1 is subjected to a lateral impact, the elastic component will also deform due to the lateral impact, thereby absorbing part of the lateral impact force and transmitting it to the PTO mover component 2 for power generation.

[0087] Therefore, by maintaining a preset distance between the inner sidewalls of the first elastic element 41 and the second elastic element 42 fitted on the PTO main shaft 3 and the sidewall of the PTO main shaft 3, when the wave drives the fully enclosed shell 1 to move, the PTO mover assembly 2 can use the energy of the lateral degree of freedom of the wave to generate electricity, thereby improving the efficiency and power generation of wave power generation.

[0088] Optionally, the elastic component includes at least one of a compression tension spring, a torsion spring, an air spring, and a rubber elastomer.

[0089] The first elastic element 41 and the second elastic element 42 can be selected from one of the above-mentioned elastic bodies at the same time, or two of the above-mentioned elastic bodies can be used respectively.

[0090] Optionally, the first elastic element 41 and / or the second elastic element 42 can also be any of the above-mentioned elastic bodies. By setting multiple elastic bodies evenly distributed around the PTO main shaft 3 and connecting them to the PTO mover assembly 2 and the inner wall of the fully enclosed shell 1 or the first float shoulder groove 51 and the second float shoulder groove 52 respectively, the same function can also be achieved.

[0091] In one specific embodiment of the present invention, the fully enclosed oscillating float device further includes a control component, which is disposed inside the float shell and electrically connected to the PTO mover assembly 2, for controlling the fully enclosed oscillating float device to generate electricity according to the status information of the PTO mover assembly 2.

[0092] While acquiring the status information of the PTO mover assembly 2, the control component can also acquire the wave pattern of the surrounding environment of the fully enclosed oscillating float device. Based on the wave pattern, different control strategies are adopted to control the PTO mover assembly 2 to take corresponding actions. With the help of the elastic component, the fully enclosed shell 1 is moved, so that the fully enclosed shell 1 resonates with the surrounding waves, thereby maximizing the efficiency of wave power generation.

[0093] Furthermore, when the waves are of a regular shape, the control component actively controls the PTO mover assembly 2 through a linear feedback control mode, causing the enclosed shell to resonate with the waves; when the waves are of an irregular shape, the control component actively controls the PTO mover assembly 2 through an optimal control mode, causing the enclosed shell to resonate with the waves.

[0094] The generator in the PTO mover assembly 2 can be controlled to operate in active mode by the motor controller. This allows the PTO mover assembly 2 to generate a given PTO thrust as needed. This thrust will act on the elastic component through the PTO mover assembly 2, and at the same time, it will apply a reaction force of equal magnitude and opposite direction to the float through the PTO main shaft 3.

[0095] Under such conditions, the motion characteristics of both the PTO mover assembly 2 and the float will change, thus affecting wave energy capture. By controlling the magnitude of the PTO force in real time and appropriately, the motion characteristics of the float can be altered to resonate with the waves, maximizing wave energy capture. The wave energy captured by the float is then transferred to the PTO mover assembly 2 via the elastic components for power generation.

[0096] Specifically, when the wave has a regular shape, the control component controls the PTO actuator component 2 through a linear feedback control mode, including:

[0097] First, the control component acquires the distance and speed of the PTO mover assembly 2 relative to the PTO main shaft 3 along its axial direction, and calculates the thrust value f of the PTO mover assembly 2 based on the distance and speed. pto .

[0098] Then, based on the thrust value of PTO mover assembly 2, the operation of PTO mover assembly 2 is controlled to adjust the motion state of the enclosed shell so that it resonates with the waves.

[0099] The thrust value f of PTO mover assembly 2 pto The calculation formula is:

[0100] f pto =R pto v+K pto z;

[0101] Where v is the moving speed of PTO mover assembly 2 relative to PTO spindle 3; z is the initial moving distance of PTO mover assembly 2 relative to the axial direction of PTO spindle 3; and R pto The controllable damping of PTO mover assembly 2 is determined based on the radiation damping of the float, K. pto The controllable elasticity of the PTO mover assembly 2 is determined based on the buoyancy coefficient and radiation mass of the float.

[0102] Specifically, when the wave has an irregular shape, the optimal control mode for the control component to control the PTO actuator component 2 includes:

[0103] The thrust value of PTO mover assembly 2 is calculated based on the optimization solution algorithm;

[0104] The formula for calculating the thrust value of PTO mover assembly 2 is as follows:

[0105]

[0106] x k+1 =Ax k +B u u k +B w w k ;

[0107] |C v x k |≤v max ;

[0108] |C z x k |≤z max ;

[0109] |u k |≤f max ;

[0110] Where k represents the discrete control cycle number, k = 0, ..., N, where 0 represents the current time, and 1, ..., N represent the subsequent N control cycles, x k A vector containing the motion states of the PTO mover assembly 2 and the motion states of the enclosed shell, A, B u B w These are matrices representing the control strategy model, u k w is the thrust value of PTO mover assembly 2 in the kth control cycle. k C is the excitation force of the wave in the k-th control cycle. v x k C represents the moving speed of the PTO mover assembly 2 relative to the PTO spindle 3. z x k v is the initial position of the PTO mover assembly 2 relative to the axial movement of the PTO spindle 3. max z is the maximum permissible speed value of PTO mover assembly 2. max f is the maximum permissible displacement value of PTO mover assembly 2. max The maximum permissible thrust value, maximum permissible velocity value, maximum permissible displacement value, and maximum permissible thrust value of PTO mover assembly 2 are related to the structure and size of the float.

[0111] The present invention fixes the main extraction direction of wave energy through the above-described structure, and then uses elastic components to absorb energy in other directions of freedom to improve the power generation efficiency of the device. It has the advantages of high energy extraction efficiency and simple structure.

[0112] Accordingly, a second aspect of the present invention provides a wave power generation system, including a plurality of the above-described fully enclosed oscillating buoy devices.

[0113] Further, please refer to Figure 5 The wave power generation system also includes: a floating body fixing device set on the seabed, which is connected to each fully enclosed oscillating floating body device by means of a chain mooring.

[0114] Optionally, the above-mentioned floating body fixing device can also be replaced by a relatively flat area on the seabed, with the bottom end of the suspension chain directly moored to the seabed, and the fully enclosed oscillating floating body device connected to the seabed through at least one suspension chain.

[0115] The aforementioned floating body fixing device and each fully enclosed oscillating floating body device are connected by a chain mooring method, which overcomes the tidal range problem existing in the current floating bodies.

[0116] The aforementioned wave power generation system does not require a fixed platform or connection to the floating device via a tension anchor chain, as is common in traditional wave power generation devices. Instead, it only needs to be connected to the aforementioned fully enclosed oscillating floating device via a catenary anchor chain. The purpose of this catenary anchor chain is to prevent the fully enclosed oscillating floating device from being washed away by waves, and it can adapt to tidal range.

[0117] Accordingly, a third aspect of the present invention provides a control method for a fully enclosed oscillating float device, which generates electricity based on the aforementioned fully enclosed oscillating float device, comprising the following steps:

[0118] Step S100: Obtain the wave morphology in the environment surrounding the power generation device.

[0119] The system detects the period and height of waves in the environment surrounding the power generation device. If the detected values ​​of both the period and height of the waves are within a relatively stable threshold within a predetermined time period, the waves can be determined to be in a regular pattern. If the detected values ​​of both the period and height of the waves exceed this threshold, the waves can be determined to be in an irregular pattern.

[0120] In step S200, when the wave has a regular shape, the control component actively controls the PTO mover component 2 through the linear feedback control mode, so that the enclosed shell resonates with the wave.

[0121] Specifically, in step S200, when the wave has a regular shape, the control component controls the PTO actuator component 2 through a linear feedback control mode, including:

[0122] Step S210: The control component acquires the moving distance and speed of the PTO mover assembly 2 relative to the PTO main shaft 3 along its axial direction, and calculates the thrust value f of the PTO mover assembly 2 based on the moving distance and speed. pto .

[0123] The thrust value f of PTO mover assembly 2 pto The calculation formula is:

[0124] f pto =R pto v+K pto z;

[0125] Where v is the moving speed of PTO mover assembly 2 relative to PTO spindle 3; z is the initial moving distance of PTO mover assembly 2 relative to the axial direction of PTO spindle 3; and R pto The controllable damping of PTO mover assembly 2 is determined based on the radiation damping of the float, K. pto The controllable elasticity of the PTO mover assembly 2 is determined based on the buoyancy coefficient and radiation mass of the float.

[0126] Step S220: Based on the thrust value of the PTO mover assembly 2, control the operation of the PTO mover assembly 2 to adjust the motion state of the enclosed shell so that it resonates with the waves.

[0127] After calculating the thrust value of PTO mover assembly 2, the generator controller in PTO mover assembly 2 can be controlled to keep the output thrust of PTO mover assembly 2 at the calculated thrust value. This allows the motion pattern of the enclosed shell to be adjusted so that it resonates with the waves.

[0128] Then, the enclosed shell that resonates with the waves drives the PTO mover assembly 2 to generate electricity through the elastic component, thereby maximizing the power generation efficiency of the wave energy.

[0129] In step S300, when the wave is irregular in shape, the control component actively controls the PTO mover component 2 through the optimal control mode, so that the enclosed shell resonates with the wave.

[0130] Specifically, when the wave has an irregular shape, the optimal control mode for the control component to control the PTO actuator component 2 includes:

[0131] The thrust value of PTO mover assembly 2 is calculated based on an optimization algorithm; optionally, the optimization algorithm can be the interior point method, Newton's method, etc. Under the premise that the moving speed, moving distance, and output thrust value of the PTO mover assembly are all less than the corresponding thresholds, within the current control cycle, combining the output thrust value of PTO mover assembly 2 and the excitation force applied by the waves, a vector value of the motion state of PTO mover assembly 2 and the motion state of the enclosed shell in the current cycle is calculated based on the parameters of the previous control cycle and the control strategy model. After calculation for the above multiple control cycles, the optimal value of the thrust value of PTO mover assembly 2 is obtained. The above thrust value result satisfies the parameter constraints in the following formula for each corresponding motion state parameter condition. The thrust value result is then sent to the generator controller in PTO mover assembly 2, and the generator controller controls the output thrust of the generator.

[0132] The formula for calculating the thrust value of PTO mover assembly 2 is as follows:

[0133]

[0134] x k =Ax k-1 +B u u k-1 +B w w k-1 ;

[0135] |C v x k |≤v max ;

[0136] |C z x k |≤z max ;

[0137] |u k |≤f max ;

[0138] Where k represents the discrete control cycle number, k = 0, ..., N, where 0 represents the current time, and 1, ..., N represent the subsequent N control cycles, x k A vector containing the motion states of the PTO mover assembly 2 and the motion states of the enclosed shell, A, B u B w These are matrices representing the control strategy model, u k w is the thrust value of PTO mover assembly 2 in the kth control cycle. k For the excitation force of the wave in the kth control cycle, C v x k C represents the moving speed of the PTO mover assembly 2 relative to the PTO spindle 3. z xk v is the initial position of the PTO mover assembly 2 relative to the axial movement of the PTO spindle 3. max z is the maximum permissible speed value of PTO mover assembly 2. max f is the maximum permissible displacement value of PTO mover assembly 2. max The maximum permissible thrust value, maximum permissible velocity value, maximum permissible displacement value, and maximum permissible thrust value of PTO mover assembly 2 are related to the structure and size of the float.

[0139] After detecting the wave pattern, the present invention uses linear feedback control mode and optimal control mode to adjust the thrust value output by PTO mover assembly 2 for regular wave pattern and irregular wave pattern, respectively. Based on the thrust value, the generator controller is adjusted to keep the thrust value output by PTO mover assembly at the thrust value calculated above. This ensures that under both regular and irregular wave patterns, the movement of the fully enclosed shell 1 can be actively controlled to make it resonate with the wave, thereby maximizing the acquisition of wave energy and feeding it back to PTO mover assembly 2 for power generation.

[0140] This invention aims to protect a fully enclosed oscillating floating body device and its control method, as well as a wave power generation system. The fully enclosed oscillating floating body device includes: an enclosed outer shell and a PTO (Positive Torque Towing) mover assembly, a PTO main shaft, and an elastic component located inside the enclosed outer shell. The PTO mover assembly is sleeved on the PTO main shaft and can reciprocate along the axial direction of the PTO main shaft. Both ends of the PTO main shaft are connected to the inner wall of the enclosed outer shell. One end of the elastic component is connected to the PTO mover assembly, and the other end is connected to the inner wall of the enclosed outer shell along the axial direction of the PTO main shaft. When the enclosed outer shell is subjected to wave impact, the elastic component drives the PTO mover assembly to move and generate electricity. The above technical solution has the following effects:

[0141] 1. By housing the PTO mover assembly, PTO spindle, and elastic assembly within a fully enclosed housing, the above structure fundamentally avoids the problems of dynamic sealing structures, reduced energy extraction efficiency, and wear.

[0142] 2. The above-mentioned fully enclosed structure also reduces the problem of multi-axis components being difficult to align with each other and unable to guarantee coaxiality and parallelism, and avoids problems such as increased friction caused by differences in coaxiality and parallelism.

[0143] 3. The main direction of wave energy extraction is fixed by the above structure, and elastic components are used to absorb energy in other directions of freedom to improve the power generation efficiency of the device. It has the advantages of high energy extraction efficiency and simple structure.

[0144] 4. By maintaining a preset distance between the inner sidewalls of the first and second elastic elements fitted on the PTO main shaft and the sidewall of the PTO main shaft, when the waves drive the fully enclosed shell to move, the PTO mover assembly can use the energy of the lateral degree of freedom of the waves to generate electricity, thereby improving the efficiency and power generation of wave power generation.

[0145] 5. Obtain the wave pattern of the surrounding environment of the fully enclosed oscillating floating body device, and adopt different control strategies according to the wave pattern to control the PTO mover component to take corresponding actions. With the help of the elastic component, the fully enclosed shell is moved so that the fully enclosed shell resonates with the surrounding waves, thereby maximizing the efficiency of wave power generation.

[0146] It should be understood that the specific embodiments described above are merely illustrative or explanatory of the principles of the invention and do not constitute a limitation thereof. Therefore, any modifications, equivalent substitutions, improvements, etc., made without departing from the spirit and scope of the invention should be included within the protection scope of the invention. Furthermore, the appended claims are intended to cover all variations and modifications falling within the scope and boundaries of the appended claims, or equivalent forms of such scope and boundaries.

Claims

1. A totally enclosed oscillating buoy device, characterized in that, The utility model relates to a wave power generation, including: closed shell and be located in the PTO mover subassembly (2) of closed shell inside, PTO main shaft (3), control subassembly and elastic component, The PTO mover subassembly (2) is set on the PTO main shaft (3) and can move reciprocatingly along the PTO main shaft (3) axially, The PTO main shaft (3) is connected with the inner wall of the closed shell at both ends, One end of the elastic component is connected with the PTO mover subassembly (2), and the other end is connected with the inner wall of the closed shell along the axial direction of the PTO main shaft (3), When the closed shell is impacted by waves, the PTO mover subassembly (2) is moved to generate electricity through the elastic component, The control subassembly is arranged inside the floating body shell, The control subassembly is electrically connected with the PTO mover subassembly (2) and is used for controlling the full-closed oscillating floating body device to generate electricity according to the state information of the PTO mover subassembly (2), When the waves are regular, the control subassembly actively controls the PTO mover subassembly (2) through a linear feedback control mode, so that the closed shell resonates with the waves, and the regular form is that when the detection values of the period and height of the waves are within a threshold value within a predetermined time period, it is determined that the waves are in a regular form, When the waves are irregular, the control subassembly actively controls the PTO mover subassembly (2) through an optimal control mode, so that the closed shell resonates with the waves, and the irregular form is that when the detection values of the period and height of the waves exceed the threshold value within a predetermined time period, it is determined that the waves are in an irregular form, When the waves are irregular, the control of the PTO mover subassembly (2) by the control subassembly through the optimal control mode includes: The thrust value of the PTO mover subassembly (2) is calculated based on an optimization solving algorithm, The calculation formula of the thrust value of the PTO mover subassembly (2) is: ； ； ； ； ； wherein, denotes the number of the discrete control period, wherein 0 denotes the current time instant, denotes the subsequent control periods, a list of vectors comprising the motion state of the PTO mover assembly (2) and the motion state of the closed casing, , , are matrices respectively representing the control strategy model, is the thrust value of the PTO mover assembly (2) in the control period, is the excitation force of the wave in the control period, is the moving speed of the PTO mover assembly (2) relative to the PTO main shaft (3), is the moving distance of the initial position of the PTO mover assembly (2) relative to the PTO main shaft (3) in the axial direction, is the maximum allowable speed value of the PTO mover assembly (2), is the maximum allowable displacement value of the PTO mover assembly (2), is the maximum allowable thrust value of the PTO mover assembly (2), the values of the maximum allowable speed value, the maximum allowable displacement value and the maximum allowable thrust value being related to the structure and size of the floating body.

2. The full-closed oscillating floating body device according to claim 1, wherein The elastic component includes a first elastic member (41) and a second elastic member (42), and the first elastic member (41) and the second elastic member (42) are arranged on both sides of the PTO mover subassembly (2) along the axial direction of the PTO main shaft (3), One end of the first elastic member (41) is connected with the PTO mover subassembly (2), and the other end is connected with one side of the inner wall of the closed shell along the axial direction of the PTO main shaft (3), One end of the second elastic member (42) is connected with the PTO mover subassembly (2), and the other end is connected with the other side of the inner wall of the closed shell along the axial direction of the PTO main shaft (3).

3. The full-closed oscillating floating body device according to claim 2, wherein The inner wall of the closed shell is provided with a first floating body shoulder groove (51) and a second floating body shoulder groove (52) of an annular structure at the connection positions of the PTO main shaft (3), One end of the first elastic member (41) is in abutment with the PTO mover subassembly (2), and the other end is in abutment with the first floating body shoulder groove (51), One end of the second elastic member (42) is in abutment with the PTO mover assembly (2), and the other end is in abutment with the second floating body shoulder groove (52).

4. The fully-enclosed oscillating floating body device according to claim 2, characterized in that, The first elastic member (41) and the second elastic member (42) are annular structures that are sleeved on the PTO main shaft (3); The first elastic member (41) and the second elastic member (42) are respectively spaced apart from the PTO main shaft (3) by a preset distance.

5. The fully-enclosed oscillating floating body device according to claim 1, characterized in that, The elastic assembly comprises at least one of a compression and stretching spring, a torsion spring, an air spring, and a rubber elastic body.

6. The totally enclosed oscillating buoyant body apparatus of claim 1, wherein, When the waves are regular, the control assembly controls the PTO mover assembly (2) through a linear feedback control mode, including: The control assembly acquires a movement distance and a movement speed of the PTO rotor assembly (2) moving along the axial direction of the PTO main shaft (3), and calculates a thrust value of the PTO rotor assembly (2) based on the movement distance and the movement speed ; The thrust value of the PTO rotor assembly (2) The calculation formula is: ； wherein is the movement speed of the PTO rotor assembly (2) relative to the PTO shaft (3); is the initial position of the PTO rotor assembly (2) relative to the PTO shaft (3) axial movement distance, is the controllable damping of the PTO rotor assembly (2), determined according to the radiation damping of the floating body, is the controllable elasticity of the PTO rotor assembly (2), determined according to the buoyancy coefficient and the radiation mass of the floating body; Based on the thrust value of the PTO mover assembly (2), the PTO mover assembly (2) is controlled to operate, and the motion state of the closed shell is adjusted to resonate with the waves.

7. A wave power system, characterized in that A plurality of fully-enclosed oscillating floating body devices according to any one of claims 1-6 are included.

8. A wave power system according to claim 7, characterised in that Further comprising: A floating body fixing device; The floating body fixing device is connected with each of the fully-enclosed oscillating floating body devices through a catenary mooring mode.

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