Floating type wind turbine generator mooring positioning method, mooring positioning system and electronic equipment

Abstract

The invention belongs to the technical field of offshore wind power generation, and discloses a floating type wind turbine generator mooring positioning method, a mooring positioning system and electronic equipment. According to the floating type wind turbine generator mooring positioning method, measurement data of the wind speed and the wind direction and position information of wind turbine generator layout are obtained, then a mooring system model of the wind turbine generator is constructed, and the maximum length and the minimum length of a mooring line are obtained; secondly, iteratively processing a plurality of design parameters by using a genetic algorithm, and keeping other parameters unchanged to obtain optimized wind turbine generator position coordinates so as to create a mooring system design database, and determining the position coordinates of each wind turbine generator according to the established wake flow model of the floating type offshore wind power plant and the offset of the position of each wind turbine generator. And calculating and outputting the generating capacity of each wind generator set and the position information of the layout until the position information of the layout with the minimum wake flow loss and the maximum generating capacity of the floating type offshore wind power plant is found, so that the output power of the wind power plant is improved and the fatigue load of the wind generators is relieved.

Description

Technical Field

[0001] The present invention relates to the technical field of offshore wind power generation, and in particular to a mooring positioning method, a mooring positioning system and electronic equipment for a floating wind turbine generator set. Background Art

[0002] As offshore wind power expands from offshore to deep waters, the supporting structure has also shifted from fixed to floating. Although floating and bottom-fixed wind power projects use the same wind turbines, they differ in their supporting foundations. Unlike offshore fixed wind turbines, floating platforms allow wind turbines to move and rotate under the action of wind and waves, thereby adding additional degrees of freedom to wind turbines, which undoubtedly increases the difficulty of controlling floating wind turbines. On the other hand, the additional degrees of freedom of the platform also provide opportunities for real-time position control of wind turbines, which is impossible for onshore wind turbines or fixed-base wind turbines.

[0003] Fixed-base wind turbines cannot be relocated after installation. Under the influence of the wake effect, the output power of the wind farm will be reduced and the fatigue load of the unit structure will be increased. Floating wind turbines are movable, allowing the wind farm to track the optimal layout position with the least wake effect when the wind conditions suddenly change. The prior art proposes a method of adjusting the length of the mooring line to achieve the movement of floating wind turbines within the wind farm. By changing the length of the mooring line, the tension of the mooring line is unbalanced, causing the floating wind turbine to shift and eventually reach a new equilibrium position. The repositioning mechanism of the above technical solution adopts a taut mooring line design, one end of which is connected to the seabed and the other end is connected to a winch, which has the ability to operate quickly and continuously during the contraction and extension process.

[0004] Among them, the anchor is attached to the mooring line and is responsible for fixing the mooring line to the seabed; the catenary mooring line keeps the floating wind turbine in a fixed position and guides it to the winch through the cable guide; the winch is responsible for pulling in and releasing the mooring cable. By adjusting the length, azimuth, tightness and other parameters of the mooring line, the wind turbine moves from the original installation position to a new equilibrium position. When the installation position and anchoring position of the floating wind turbine are determined, the shape of the movable range of the wind turbine can be determined, and then the position coordinates of the wind turbine after displacement through the mooring system can be determined based on the shape of the movable range. One of the problems currently facing floating offshore wind farms is the lack of effective floating offshore wind farm control methods, which leads to obvious wake effects between wind turbines in the wind farm, limited power generation of downstream wind turbines, large fatigue loads on wind turbines, and shortened service life of wind turbines in the wind farm, which greatly reduces the economic benefits of the wind farm.

[0005] Therefore, there is an urgent need to provide a new floating wind turbine mooring positioning method, mooring positioning system and electronic equipment to solve the above-mentioned technical problems in the prior art. Summary of the invention

[0006] The object of the present invention is to provide a floating wind turbine mooring positioning method, which can realize the repositioning of the floating wind turbine, and finally realize the rapid generation of a floating wind turbine arrangement scheme that meets the optimization objectives and constraint conditions, which is beneficial to improving the output power of the wind farm and reducing the fatigue load of the wind turbine.

[0007] To achieve this object, the present invention adopts the following technical solutions:

[0008] The floating wind turbine mooring positioning method comprises the following steps:

[0009] S1. Obtaining measurement data of wind speed and direction in a floating offshore wind farm and location information of wind turbine layout;

[0010] S2. construct a mooring system model for the wind turbine to obtain the maximum and minimum lengths of the mooring lines;

[0011] S3. Create a mooring system design database: use a genetic algorithm to iteratively process multiple design parameters while keeping other parameters unchanged; the design parameters include fixed parameters and variable parameters, the fixed parameters include: water depth setting value h, the number of mooring lines in each mooring system n, the mooring line diameter a, the anchor radius R, the value is 2.5D to 3.5D, the initial azimuth of the mooring line, and the mooring line of the wind turbine is in the shape of an equilateral triangle, the angle between adjacent mooring lines is fixed to 120°, and the mooring line length is set to b; the variable parameters include: the offset of the wind turbine position relative to the initial layout; finally record the optimized wind turbine position coordinates;

[0012] S4, in step S3, the offset of the wind turbine position with variable parameters relative to the initial layout is calculated by an iterative method: the wind turbine position is gradually adjusted until the equilibrium state of the mooring system is reached, the steady-state position of each mooring system is found, and the offset of the wind turbine position relative to the initial layout is calculated;

[0013] S5. In the iterative process, a wake model of the floating offshore wind farm is established. According to the offset of the position of each wind turbine, the power generation and layout position information of each wind turbine are calculated and outputted, until the layout position information of the floating offshore wind farm with the minimum wake loss and the maximum power generation of the wind farm is found.

[0014] Optionally, the mooring system model of the wind turbine is calculated by the following method:

[0015] Among them: x0 and y0 are the initial layout coordinates of the wind turbine;n and n is the position coordinate of the wind turbine after it moves; x Fi and Fi is the fairlead coordinate; x Ai and Ai is the anchor coordinate of the mooring line; Δx i and Δy i is the distance from the center point of the wind turbine to the fairlead; i is the mooring line number; Li is the total length of the mooring line from the fairlead to the anchor; Hi(Li) is the horizontal component of the mooring line tension at the fairlead, which is a function of the mooring line length; di is the horizontal distance from the fairlead to the anchor; βi is the mooring line direction;

[0016] The horizontal distance from the fairlead to the anchor is: Among them, x Fi and Fi It is expressed as: Substituting into the above formula, we have:

[0017] The directions of the mooring lines are:

[0018] The remaining free variables are the length of the mooring line Li. Changing the length of the mooring line Li will change the horizontal component of the mooring line tension Hi. Given the horizontal distance di from the fairlead to the anchor and the vertical distance h from the fairlead to the seabed, and ignoring the environmental load, the calculated horizontal tension Hi of the catenary mooring line is obtained. The components of the horizontal tension Hi in the x and y directions are expressed as: By calculating the two components of the mooring line horizontal tension Hi in the x and y directions, the displacement of each wind turbine is obtained, and the overall system force is balanced.

[0019] Optionally, in step S2, the maximum length of the mooring line is the length of the mooring line when it is completely relaxed, that is, di+h; the minimum length of the mooring line is the length of the taut mooring line, that is,

[0020] Optionally, a quasi-static mooring analysis is performed with the following constraints: the maximum offset of the mooring system cannot exceed 1D; the maximum allowable pitch motion angle of the wind turbine is 10°, there is no vertical load on the anchor of the mooring system, and all mooring lines are in catenary shape to obtain the minimum length of the mooring line.

[0021] Optionally, an iterative method is used to gradually adjust the position of the wind turbine until a balance is reached between the external force and the internal force of the mooring system, and the steady-state position of each mooring system is found; the horizontal tension of the fairlead is calculated according to the length of the mooring line, and the two components of the horizontal tension Hi of the mooring line in the x and y directions are solved to finally obtain the displacement of each wind turbine.

[0022] Optionally, when a genetic algorithm is used to iteratively process multiple design parameters, new generations of individuals are continuously generated through selection, crossover and mutation operations: the selection operation adopts roulette wheel selection, the crossover operation adopts exchanging offsets between two parents, and the mutation operation adopts introducing random changes.

[0023] Optionally, in step S3, when determining the initial azimuth of the mooring lines, one of the mooring lines is directly aligned with the prevailing wind direction, while the other two mooring lines are arranged at a preset angle corresponding to the inflow direction of the prevailing wind direction.

[0024] Optionally, in step S5, a wake model of a floating offshore wind farm is established, and the wake model used includes an analytical wake model and a computational wake model, wherein the analytical wake model includes any one of a Jensen wake model, a Frandsen wake model, a Bastankhah wake model, and a Larsen wake model, and different wake models are selected for iteration until the location information of the layout with the minimum wake loss of the floating offshore wind farm and the maximum power generation of the wind farm is found.

[0025] Another object of the present invention is to provide a floating wind turbine mooring positioning system, which is used to perform the floating wind turbine mooring positioning method as described in any of the above solutions, including:

[0026] An acquisition module is used to obtain measurement data of wind speed and direction in a floating offshore wind farm and location information of wind turbine layout;

[0027] Mooring system modeling module, used to build a mooring system model;

[0028] A database module, used for iteratively processing any one of the multiple design parameters using a genetic algorithm while keeping other design parameters unchanged, and finally recording the optimized wind turbine position coordinates to form a database of wind turbine position coordinates;

[0029] An offset calculation module is used to gradually adjust the position of the wind turbine until the equilibrium state of the mooring system is reached, find the steady-state position of each mooring system, and calculate the offset of the wind turbine position relative to the initial layout;

[0030] The output module is used to establish the wake model of the floating offshore wind farm, and according to the offset of the position of each wind turbine, calculate and output the power generation and layout position information of each wind turbine. After comparison, the final output is the layout position information of the floating offshore wind farm with the minimum wake loss and the maximum power generation of the wind farm.

[0031] Another object of the present invention is to provide an electronic device, comprising a processor and a memory communicatively connected to the processor; wherein the memory stores instructions that can be executed by the processor, and the processor is used to execute the instructions, and the instructions include the floating wind turbine mooring positioning method as described in any of the above schemes.

[0032] Beneficial effects:

[0033] The floating wind turbine mooring positioning method obtains the measured data of wind speed and direction in the floating offshore wind farm and the location information of the wind turbine layout, and then constructs the mooring system model of the wind turbine to obtain the maximum length and minimum length of the mooring line; then uses the genetic algorithm to iteratively process multiple design parameters, while keeping other parameters unchanged, optimizes the iterative calculation to obtain the optimized wind turbine position coordinates, thereby creating a mooring system design database, and according to the established wake model of the floating offshore wind farm, according to the offset of the position of each wind turbine, calculates and outputs the power generation and layout position information of each wind turbine, until the location information of the layout with the minimum wake loss and the maximum power generation of the floating offshore wind farm is found, which is conducive to improving the output power of the wind farm and reducing the fatigue load of the wind turbine. The floating wind turbine mooring positioning method can optimize the layout based on the genetic algorithm, find the optimal arrangement of wind turbines under the constraints of multiple parameters, greatly improve the layout efficiency and power output, can quickly adapt to different layout requirements, and reduce air resistance and wake effect by reasonably arranging the position and spacing of wind turbines, and optimize the energy storage and dispatching capacity of the overall power grid. It can not only improve the power generation efficiency of wind farms, but also reduce construction costs and maintenance costs during operation. It can also dynamically adjust the layout plan according to real-time meteorological data and marine environmental information to keep wind turbines in the best working condition, thereby improving the reliability and stability of power generation and promoting more efficient construction and operation of offshore wind power projects. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 is a flow chart of a floating wind turbine mooring positioning method provided in a specific embodiment of the present invention;

[0035] Figure 2 is a schematic diagram of a mooring system after movement in a mooring system model of a wind turbine generator provided in a specific embodiment of the present invention;

[0036] Figure 3 is a schematic diagram of a mooring system in a mooring system model of a wind turbine generator provided by a specific embodiment of the present invention when the mooring system is in a static state;

[0037] Figure 4 It is a schematic diagram of a method for determining the initial azimuth angle of a mooring line of a wind turbine generator set provided in a specific embodiment of the present invention. DETAILED DESCRIPTION

[0038] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0039] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0040] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0041] In the description of this embodiment, the terms "upper", "lower", "right", etc., directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplification of operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0042] Please refer to Figures 1 to 4 In this embodiment, the floating wind turbine mooring positioning method comprises the following steps:

[0043] S1. Obtain the measurement data of wind speed and direction in the floating offshore wind farm and the location information of the wind turbine layout; S2. Construct a mooring system model of the wind turbine to obtain the maximum length and minimum length of the mooring line.

[0044] In step S1 and step S2, the wind speed and direction of the offshore wind farm are measured, as well as the layout position information of the wind turbine, and then the maximum length and minimum length of the mooring line are calculated through the mooring system model. Assuming that the original position of the wind turbine and the foundation form of the unit are known in advance, the original position and the anchoring position determine the shape of the movable range. In order to optimize the layout of the floating wind turbine, the movement form of the mooring system should be determined first, and whether the assumed movable range of the wind turbine is the actual movable range should be studied. Different positions within the range must be studied to determine whether the force balance can be achieved at these desired positions by adjusting the length of the mooring line; thus, the maximum length and minimum length of the mooring line can be obtained, thereby calculating whether the wind turbine can be moved to these different positions through position mooring.

[0045] In addition, the wind farm parameters also include the set wind farm boundaries to prevent the wind turbines from drifting beyond the set boundaries of the wind farm; they also include wind farm sensitive areas to prevent the wind turbines from entering sensitive areas (such as reef areas, protection areas, etc.) to avoid unexpected risks; further, they also include wind turbine power curves to calculate the power generation of wind turbines at different wind speeds and wind directions, which will not be repeated here.

[0046] Figure 2 It is a schematic diagram of the mooring system after movement in the mooring system model of the wind turbine. A circle is used to represent the position of the wind turbine, the left side represents the movement of the mooring system, and the right side represents the force direction of the mooring line.

[0047] Optionally, the mooring system model of the wind turbine is calculated by the following method, where: x0 and y0 are the initial layout coordinates of the wind turbine; n and n is the position coordinate of the wind turbine after it moves; x Fi and Fi is the fairlead coordinate; x Ai and Ai is the anchor coordinate of the mooring line; Δx i and Δy i is the distance from the center point of the wind turbine to the fairlead; i is the mooring line number; Li is the total length of the mooring line from the fairlead to the anchor; Hi(Li) is the horizontal component of the mooring line tension at the fairlead, which is a function of the mooring line length; di is the horizontal distance from the fairlead to the anchor; βi is the mooring line direction.

[0048] The horizontal distance from the fairlead to the anchor is: Among them, x Fi and Fi It is expressed as: Substituting into the above formula, we have:

[0049] The directions of the mooring lines are:

[0050] The remaining free variables are the length of the mooring line Li. Changing the length of the mooring line Li will change the horizontal component of the mooring line tension Hi. Given the horizontal distance di from the fairlead to the anchor and the vertical distance h from the fairlead to the seabed, and ignoring the environmental load, the calculated horizontal tension Hi of the catenary mooring line is obtained. The components of the horizontal tension Hi in the x and y directions are expressed as: By calculating the two components of the mooring line horizontal tension Hi in the x and y directions, the displacement of each wind turbine is obtained, and the overall system force is balanced.

[0051] Furthermore, the horizontal distance from the fairlead to the anchor determines the minimum and maximum mooring line lengths. Figure 3 As shown, the lower left corner is the fixed point of the anchor on the seabed, the upper right corner is the location of the fairlead of the wind turbine, and the curve connecting the two is the mooring line. In step S2, the maximum length of the mooring line is the length when the mooring line is completely relaxed, that is, di+h; the minimum length of the mooring line is the length of the tightened mooring line, that is In this way, the length range of the mooring line can be determined, which is convenient for reducing the data range of iterative calculation in subsequent iterative calculations and improving calculation efficiency.

[0052] As a preferred embodiment, the minimum length of the mooring line is the length of the taut mooring line. In this case, vertical loads will be generated at the anchor point, which does not meet the actual use requirements, so the minimum length of the mooring line needs to be redefined. In this embodiment, the problem is solved by adding constraints in the optimization process, and the position of the wind turbine that can provide force balance can be found through static mooring analysis. Static mooring analysis can perform quasi-static mooring analysis on the mooring system, including any arrangement of mooring lines and platforms. The average offset of the wind turbine, the mooring balance force and the mooring line stiffness matrix, the tension of each mooring line, and the Jacobian determinant of the mooring line tension relative to the platform's degree of freedom can be calculated.

[0053] Specifically, the constraints for quasi-static mooring analysis are: the maximum offset of the mooring system cannot exceed 1D (D here is the diameter of the wind turbine impeller surface); the maximum allowable pitch angle of the wind turbine is 10°, there is no vertical load on the anchor of the mooring system, and all mooring lines are in the shape of catenaries to obtain the minimum length of the mooring line. The minimum length of the mooring line designed in this way can eliminate the vertical load on the anchor, prevent the anchor from being pulled up, and improve the reliability of the wind turbine.

[0054] In this embodiment, the floating wind turbines will be passively rearranged according to the wind direction and wind speed. Therefore, for each wind direction and each wind speed, the layout of each wind turbine in the wind farm will be slightly different. In order to achieve this layout, this embodiment creates a mooring system design database. The dynamic optimization of floating wind turbines is to consider the influence of wind direction and mooring system displacement. On the basis of the original layout, a quasi-static mooring model is introduced to calculate the offset of each unit, realize the repositioning of the floating wind turbines, calculate the power generation of the floating wind turbines, and finally realize the rapid generation of a database of floating wind turbine layout plans that meet the optimization objectives and constraints.

[0055] Optionally, an iterative method is used to gradually adjust the position of the wind turbine until a balance is achieved between the external force and the internal force of the mooring system, and the steady-state position of each mooring system is found; the horizontal tension of the fairlead is calculated according to the length of the mooring line, and the two components of the horizontal tension Hi of the mooring line in the x and y directions are solved, and finally the displacement of each wind turbine is obtained. In this way, the position of the wind turbine can be guaranteed to be in a balance between the external force (the incoming wind direction and wind speed) and the internal force (the stress of the mooring line), and a database of floating wind turbine arrangement plans that meet the optimization objectives and constraints can be quickly generated, thereby obtaining the minimum length of the mooring line that meets the constraints.

[0056] Specifically, in step S3, a mooring system design database is created: a genetic algorithm is used to iteratively process multiple design parameters while keeping other parameters unchanged; wherein the design parameters include fixed parameters and variable parameters, and the fixed parameters include: water depth setting value h, the number of mooring lines in each mooring system n, the mooring line diameter a, the anchor radius R, which takes a value of 2.5D to 3.5D, the initial azimuth of the mooring line, and the mooring line of the wind turbine is in the shape of an equilateral triangle, the angle between adjacent mooring lines is fixed to 120°, and the mooring line length is set to b; the variable parameters include: the offset of the wind turbine position relative to the initial layout; and finally the optimized wind turbine position coordinates are recorded. Here, the units of water depth, mooring line diameter, anchor radius, and mooring line length are all meters. As an intelligent optimization technology, genetic algorithm simulates the biological genetic evolution process, iterates calculations, and continuously approaches the optimal solution. Specifically, the genetic algorithm first randomly generates a set of possible wind turbine layout solutions, and then evaluates the pros and cons of each solution through the fitness function, so as to select the better solution for "breeding" (i.e., combination, crossover), and introduces a mutation mechanism to ensure the diversity of the search space. This method shows superiority in dealing with high-dimensional, multi-objective problems, and can quickly adapt to different layout requirements, thereby promoting more efficient construction and operation of offshore wind power projects.

[0057] Optionally, when using a genetic algorithm to iteratively process multiple design parameters, a new generation of individuals is continuously generated through selection, crossover, and mutation operations: the selection operation uses roulette selection, the crossover operation uses the exchange of offsets between two parents, and the mutation operation uses the introduction of random changes. During the optimization process, the improved genetic algorithm continuously generates a new generation of individuals through operations such as selection, crossover, and mutation. The selection operation uses roulette selection to ensure that individuals are more likely to enter the next generation; the crossover operation can exchange offsets between two parents to generate new layout solutions, while the mutation operation introduces small random changes to generate different optimization solutions. After multiple generations of iterations, the algorithm will converge to the solution corresponding to the fitness and eventually find the optimal offset.

[0058] Furthermore, in step S3, when determining the initial azimuth of the mooring line, one of the mooring lines is directly aligned with the prevailing wind direction, while the other two mooring lines are set at a preset angle, which corresponds to the inflow direction of the prevailing wind direction. In the cases of existing floating wind farms such as Hywind, WindFloat Atlantic 2, Kincardine, and the relevant definitions of the specification, the above method is adopted when determining the initial azimuth of the mooring line, such as Figure 4 As shown, it is ensured that in the mooring system, one mooring line is directly aligned with the prevailing wind direction, and the other two mooring lines are arranged at an angle, which accurately corresponds to the inflow direction of the prevailing wind direction. In this embodiment, the above method is adopted to design the initial azimuth of the mooring line. Once the initial azimuth is determined, the specific position of the anchor point is also determined to ensure the scientificity and practicality of the mooring system design.

[0059] S4. In step S3, the offset of the wind turbine position with variable parameters relative to the initial layout is calculated by an iterative method: the wind turbine position is gradually adjusted until the equilibrium state of the mooring system is reached, the steady-state position of each mooring system is found, and the offset of the wind turbine position relative to the initial layout is calculated; as mentioned above, this can ensure that the position of the wind turbine is in a balance between external forces (incoming wind direction and wind speed) and internal forces (stress of the mooring line), thereby achieving the purpose of quickly generating a database of floating wind turbine arrangement plans that meet the optimization objectives and constraints in step S3.

[0060] S5. In the iterative process, a wake model for floating offshore wind farms is established. According to the offset of each wind turbine position, the power generation and layout position information of each wind turbine are calculated and outputted until the layout with the minimum wake loss and the maximum wind farm power generation is found. Considering the offset of each wind turbine caused by the mooring system, repeated iterations and multiple optimizations are performed until the layout with the minimum wake loss in the floating wind farm and the maximum annual net power generation of the wind farm is found. The optimization is completed, and finally the effects of different wake models on the annual power generation of floating wind turbines are compared, as well as the effects of dynamic layout optimization and static layout optimization on annual power generation are compared, so as to evaluate the differential effects of floating and fixed wind turbines on power generation efficiency.

[0061] Optionally, in step S5, a wake model of a floating offshore wind farm is established, and the wake model used includes an analytical wake model and a computational wake model, wherein the analytical wake model includes any one of the Jensen wake model, the Frandsen wake model, the Bastankhah wake model, and the Larsen wake model, and different wake models are selected for iteration until the location information of the layout with the smallest wake loss of the floating offshore wind farm and the largest wind farm power generation is found. Since different wake models have different effects on the output results of the power generation calculation of the floating wind turbine, it is necessary to consider different wake models, output the optimal result of the optimal wind turbine position layout, and find the optimal wind turbine arrangement scheme under the constraints of multiple parameters, which greatly improves the layout efficiency and power output of the wind farm.

[0062] The floating wind turbine mooring positioning method obtains the measured data of wind speed and direction in the floating offshore wind farm and the location information of the wind turbine layout, and then constructs the mooring system model of the wind turbine to obtain the maximum length and minimum length of the mooring line; then uses the genetic algorithm to iteratively process multiple design parameters, while keeping other parameters unchanged, optimizes the iterative calculation to obtain the optimized wind turbine position coordinates, thereby creating a mooring system design database, and according to the established wake model of the floating offshore wind farm, according to the offset of the position of each wind turbine, calculates and outputs the power generation and layout position information of each wind turbine, until the location information of the layout with the minimum wake loss and the maximum power generation of the floating offshore wind farm is found, which is conducive to improving the output power of the wind farm and reducing the fatigue load of the wind turbine. The floating wind turbine mooring positioning method can optimize the layout based on the genetic algorithm, find the optimal arrangement of wind turbines under the constraints of multiple parameters, greatly improve the layout efficiency and power output, can quickly adapt to different layout requirements, and reduce air resistance and wake effect by reasonably arranging the position and spacing of wind turbines, and optimize the energy storage and dispatching capacity of the overall power grid. It can not only improve the power generation efficiency of wind farms, but also reduce construction costs and maintenance costs during operation. It can also dynamically adjust the layout plan according to real-time meteorological data and marine environmental information to keep wind turbines in the best working condition, thereby improving the reliability and stability of power generation and promoting more efficient construction and operation of offshore wind power projects.

[0063] The present embodiment also provides a floating wind turbine mooring positioning system, which is used to execute the floating wind turbine mooring positioning method as described in any of the above schemes, including an acquisition module, a mooring system modeling module, a database module, an offset calculation module and an output module, which are used to obtain the measurement data of wind speed and direction in the floating offshore wind farm and the location information of the wind turbine layout; the mooring system modeling module is used to build a mooring system model; the database module is used to iteratively process any one of the multiple design parameters using a genetic algorithm, while keeping the other design parameters unchanged, and finally record The optimized wind turbine position coordinates are recorded to form a database of wind turbine position coordinates; the offset calculation module is used to gradually adjust the wind turbine position until the equilibrium state of the mooring system is reached, the steady-state position of each mooring system is found, and the offset of the wind turbine position relative to the initial layout is calculated; the output module is used to establish a wake model of the floating offshore wind farm, and according to the offset of the position of each wind turbine, the power generation and layout position information of each wind turbine are calculated and output, and after comparison, the position information of the layout with the minimum wake loss of the floating offshore wind farm and the maximum power generation of the wind farm is finally output.

[0064] Regarding the floating wind turbine mooring positioning system in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the floating wind turbine mooring positioning method, and will not be repeated here.

[0065] For the floating wind turbine mooring positioning system, since it basically corresponds to the floating wind turbine mooring positioning method, the relevant parts can refer to the partial description of the method embodiment. The floating wind turbine mooring positioning system described above is only schematic, wherein each module may or may not be physically separated, and each module may or may not be a physical unit, that is, each module may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present application. Ordinary technicians in this field can understand and implement it without creative work.

[0066] This embodiment further provides an electronic device, which includes a processor and a memory communicatively connected to the processor; wherein the memory stores instructions that can be executed by the processor, and the processor is used to execute the instructions, and the instructions include the floating wind turbine mooring positioning method as described in any of the above schemes.

[0067] In particular, according to the embodiments of the present disclosure, the above-referenced appendix Figure 1 The process described in the flowchart in can be implemented as a computer software program, that is, an instruction executed by a processor. Specifically, the electronic device in the embodiment of the present disclosure is a computer device, which executes a computer program, and the computer device includes a computer program carried on a computer-readable medium, and the computer program contains program code for executing the mooring positioning method of a floating wind turbine as described in any of the above schemes. In such an embodiment, the computer program can be downloaded and installed into the memory from the network through the communication module, or installed from the memory. When the computer program is executed by the processor, the mooring positioning method of a floating wind turbine described in any of the above schemes can be implemented, thereby realizing the rapid generation of a floating wind turbine arrangement plan that meets the optimization objectives and constraints.

[0068] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present disclosure. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some implementations as replacements, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0069] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, various obvious changes, readjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A method for mooring and positioning a floating wind turbine, characterized in that: include: S1. Obtaining measurement data of wind speed and direction in a floating offshore wind farm and location information of wind turbine layout; S2. construct a mooring system model for the wind turbine to obtain the maximum and minimum lengths of the mooring lines; S3. Create a mooring system design database: use a genetic algorithm to iteratively process multiple design parameters while keeping other parameters unchanged; the design parameters include fixed parameters and variable parameters, the fixed parameters include: water depth setting value h, the number of mooring lines in each mooring system n, the mooring line diameter a, the anchor radius R, the value is 2.5D to 3.5D, the initial azimuth of the mooring line, and the mooring line of the wind turbine is in the shape of an equilateral triangle, the angle between adjacent mooring lines is fixed to 120°, and the mooring line length is set to b; the variable parameters include: the offset of the wind turbine position relative to the initial layout; finally record the optimized wind turbine position coordinates; S4, in step S3, the offset of the wind turbine position with variable parameters relative to the initial layout is calculated by an iterative method: the wind turbine position is gradually adjusted until the equilibrium state of the mooring system is reached, the steady-state position of each mooring system is found, and the offset of the wind turbine position relative to the initial layout is calculated; S5. In the iterative process, a wake model of the floating offshore wind farm is established. According to the offset of the position of each wind turbine, the power generation and layout position information of each wind turbine are calculated and outputted, until the layout position information of the floating offshore wind farm with the minimum wake loss and the maximum power generation of the wind farm is found.

2. The method for mooring and positioning a floating wind turbine according to claim 1, characterized in that: The mooring system model of the wind turbine is calculated by the following method: Among them: x0 and y0 are the initial layout coordinates of the wind turbine; n and n is the position coordinate of the wind turbine after moving; x Fi and Fi is the fairlead coordinate; x Ai and Ai is the anchor coordinate of the mooring line; Δx i and Δy i is the distance from the center point of the wind turbine to the fairlead; i is the mooring line number; Li is the total length of the mooring line from the fairlead to the anchor; Hi(Li) is the horizontal component of the mooring line tension at the fairlead, which is a function of the mooring line length; di is the horizontal distance from the fairlead to the anchor; βi is the mooring line direction; The horizontal distance from the fairlead to the anchor is: Among them, x Fi and Fi It is expressed as: Substituting into the above formula, we have: The directions of the mooring lines are: The remaining free variables are the length of the mooring line Li. Changing the length of the mooring line Li will change the horizontal component of the mooring line tension Hi. Given the horizontal distance di from the fairlead to the anchor and the vertical distance h from the fairlead to the seabed, and ignoring the environmental load, the calculated horizontal tension Hi of the catenary mooring line is obtained. The components of the horizontal tension Hi in the x and y directions are expressed as: By calculating the two components of the mooring line horizontal tension Hi in the x and y directions, the displacement of each wind turbine is obtained, and the overall system force is balanced.

3. The method for mooring and positioning a floating wind turbine according to claim 2, characterized in that: In step S2, the maximum length of the mooring line is the length of the mooring line when it is completely relaxed, that is, di+h; the minimum length of the mooring line is the length of the taut mooring line, that is, 4. The method for mooring and positioning a floating wind turbine according to claim 3, characterized in that: A quasi-static mooring analysis was performed with the following constraints: the maximum offset of the mooring system cannot exceed 1D; the maximum allowable pitch motion angle of the wind turbine is 10°, there is no vertical load on the anchor of the mooring system, and all mooring lines are in catenary shape to obtain the minimum length of the mooring line.

5. The method for mooring and positioning a floating wind turbine according to claim 2, characterized in that: The iterative method is used to gradually adjust the position of the wind turbine until a balance is achieved between the external force and the internal force of the mooring system, and the steady-state position of each mooring system is found; the horizontal tension of the fairlead is calculated according to the length of the mooring line, and the two components of the horizontal tension Hi of the mooring line in the x and y directions are solved, and finally the displacement of each wind turbine is obtained.

6. The method for mooring and positioning a floating wind turbine according to claim 1, characterized in that: When using genetic algorithms to iteratively process multiple design parameters, new generations of individuals are continuously generated through selection, crossover, and mutation operations: the selection operation uses roulette wheel selection, the crossover operation uses the exchange of offsets between two parents, and the mutation operation uses the introduction of random changes.

7. The method for mooring and positioning a floating wind turbine according to claim 1, characterized in that: In step S3, when determining the initial azimuth of the mooring lines, one of the mooring lines is directly aligned with the prevailing wind direction, while the other two mooring lines are arranged at a preset angle corresponding to the inflow direction of the prevailing wind direction.

8. The method for mooring and positioning a floating wind turbine according to claim 1, characterized in that: In step S5, a wake model of a floating offshore wind farm is established. The wake models used include an analytical wake model and a computational wake model. The analytical wake model includes any one of a Jensen wake model, a Frandsen wake model, a Bastankhah wake model, and a Larsen wake model. Different wake models are selected for iteration until the location information of the layout with the minimum wake loss of the floating offshore wind farm and the maximum power generation of the wind farm is found.

9. The floating wind turbine mooring positioning system is characterized by: A method for performing mooring positioning of a floating wind turbine according to any one of claims 1 to 8, comprising: An acquisition module is used to obtain measurement data of wind speed and direction in a floating offshore wind farm and location information of wind turbine layout; Mooring system modeling module, used to build a mooring system model; A database module, used for iteratively processing any one of the multiple design parameters using a genetic algorithm while keeping other design parameters unchanged, and finally recording the optimized wind turbine position coordinates to form a database of wind turbine position coordinates; An offset calculation module is used to gradually adjust the position of the wind turbine until the equilibrium state of the mooring system is reached, find the steady-state position of each mooring system, and calculate the offset of the wind turbine position relative to the initial layout; The output module is used to establish the wake model of the floating offshore wind farm. According to the offset of the position of each wind turbine, the power generation and layout position information of each wind turbine are calculated and output. After comparison, the layout position information of the floating offshore wind farm with the minimum wake loss and the maximum power generation of the wind farm is finally output.

10. An electronic device, characterized in that It comprises a processor and a memory communicatively connected to the processor; wherein the memory stores instructions executable by the processor, the processor is used to execute the instructions, and the instructions include the floating wind turbine mooring positioning method according to any one of claims 1-8.

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