Floating transmission tower and control method thereof

Abstract

The invention discloses a floating type power transmission tower and a control method thereof. The power transmission tower comprises a floating platform, a tower body and a plurality of electromagnetic hydraulic dampers. A tower foot platform of the tower body is connected with the driving ends of the electromagnetic hydraulic dampers, and all the electromagnetic hydraulic dampers are arranged at the top of the floating platform; the electromagnetic hydraulic damper comprises a hydraulic cylinder, an electromagnetic fluid, a piston, a piston lever and a plurality of electromagnetic coils; the hydraulic cylinder is filled with electromagnetic fluid which changes damping force along with changes of external current signals. A piston arranged in the hydraulic cylinder divides the hydraulic cylinder into two cavities, the piston is provided with a fluid channel penetrating through the two cavities, and one end of the piston is fixedly connected with one end of a piston lever. The other end of the piston lever is a driving end; each electromagnetic coil is embedded in the position, surrounding the fluid channel, in the piston, and the electromagnetic coils are used for generating current signals. According to the floating type power transmission tower, impact and damage caused by sea stormy waves are reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of offshore power transmission, and in particular to a floating power transmission tower and a control method thereof. Background Art

[0002] With the global emphasis on renewable energy, offshore wind power has become an important form of clean energy. It is gaining more and more attention and application. In the transmission process of offshore wind power, transmission towers play a vital role.

[0003] In the prior art, fixed transmission towers used in land environments are directly applied to aquatic environments. However, in aquatic environments, especially deep sea or offshore areas, fixed transmission towers may be severely impacted and damaged due to factors such as wind, waves, and currents, thereby affecting power transmission and affecting the stable operation of the power system.

[0004] It can be seen that how to design a transmission tower for use in aquatic environments to reduce the impact and damage of offshore wind and waves has become a technical problem that needs to be urgently solved by technical personnel in this field. Summary of the invention

[0005] The present invention provides a floating transmission pole tower and a control method thereof, so as to solve the technical problem of how to reduce the impact and damage of offshore wind and waves on the transmission pole tower.

[0006] In order to solve the above technical problems, an embodiment of the present invention provides a floating transmission tower, comprising: a floating platform, a tower body and a number of electromagnetic hydraulic dampers; The tower foot platform of the tower body is connected to the driving end of the electromagnetic hydraulic damper, and each of the electromagnetic hydraulic dampers is arranged on the top of the floating platform; The electromagnetic hydraulic damper comprises a hydraulic cylinder, an electromagnetic fluid, a piston, a piston rod and a number of electromagnetic coils; The interior of the hydraulic cylinder is filled with the electromagnetic fluid whose damping force changes with the external current signal; the piston arranged in the hydraulic cylinder divides the hydraulic cylinder into two chambers, and the piston is provided with a fluid channel running through the two chambers, one end of the piston is fixedly connected to one end of the piston rod; the other end of the piston rod is the driving end; each of the electromagnetic coils is embedded in the piston at a position surrounding the fluid channel, and the electromagnetic coil is used to generate a current signal.

[0007] As one of the preferred solutions, the electromagnetic hydraulic damper further includes a counter-electromagnetic coil having the same number as the electromagnetic coil; Each of the counter-electromagnetic coils is embedded in the piston, and the counter-electromagnetic coil is used to eliminate the influence of the temporary current generated by the electromagnetic coil on the magnetic field strength.

[0008] As one of the preferred solutions, a number of riveted parts are arranged on the floating platform, and the riveted parts include a sphere and a base, the base is fixedly connected to the floating platform, and the sphere is connected to the electromagnetic hydraulic damper.

[0009] Another embodiment of the present invention provides a control method for a floating transmission tower, which is applied to the floating transmission tower as described above, and includes: Obtain marine environmental data of the target sea area; Analyzing the marine environment data to determine tower posture data of a target floating transmission tower; Generating a matching current signal according to the tower posture data; The current signal is sent to the electromagnetic coil, so that the electromagnetic fluid adjusts its damping force according to the received current signal.

[0010] As one preferred solution, the analyzing the marine environment data to determine the tower posture data of the target floating transmission tower includes: Acquiring historical marine environment data of the target sea area and historical tower posture data of the target floating transmission tower; Based on the historical ocean environment data and the historical tower posture data, the constructed initial tower tilt model is trained to obtain a trained tower tilt model; When analyzing the tower attitude data of the target floating power transmission tower, the acquired real-time ocean environment data is input into the tower inclination model to obtain the tower attitude data of the target floating power transmission tower.

[0011] As one preferred solution, the training of the constructed initial tower tilt model based on the historical ocean environment data and the historical tower attitude data includes: Construct an initial tower tilt model based on a deep neural network; Preprocessing the historical ocean environment data and the historical tower posture data to obtain a training data set; The initial pole tower inclination model is iteratively trained according to the training data set, and during the training process, the model parameters of the initial pole tower inclination model are optimized by a back propagation algorithm to obtain a trained pole tower inclination model.

[0012] As one of the preferred solutions, the preprocessing of the historical ocean environment data and the historical tower posture data to obtain a training data set includes: Performing time alignment processing on the historical ocean environment data and the historical tower posture data to obtain an initial data set; Extracting features from the initial data set to obtain target feature data, wherein the target features include wind speed, wind direction, wave height, tilt angle, and displacement value; The target feature data is standardized to obtain the training data set.

[0013] As one preferred solution, the tower posture data includes a tilt angle and a displacement value; The generating a matching current signal according to the tower posture data includes: Calculating the damping force to be adjusted of the target floating transmission tower based on the displacement value and the inclination angle; Calculating the magnetic field strength to be adjusted according to the damping force to be adjusted, and calculating the input current of the electromagnetic coil based on the magnetic field strength to be adjusted; A damping force of the electromagnetic fluid is adjusted based on the input current.

[0014] As one of the preferred solutions, the damping force to be adjusted of the target floating transmission tower is calculated based on the displacement value and the inclination angle, which is expressed as: in, is the roll angle of the floating transmission tower, is the pitch angle of the floating transmission tower, is the vertical displacement of the floating transmission tower, M is the inertia value, C is the damping coefficient, K is the stiffness coefficient, and F w is the external disturbance force, F d is the damping force.

[0015] As one of the preferred solutions, the magnetic field strength to be adjusted is calculated according to the damping force to be adjusted, and the input current of the electromagnetic coil is calculated based on the magnetic field strength to be adjusted, which is expressed as: Where c is the geometric coefficient of the damper, η0 is the initial viscosity of the fluid, v is the relative speed of the damper movement, α is a constant that depends on the characteristics of the electromagnetic fluid, and n is an exponential parameter that is determined by the fluid material. is the initial strength of the magnetic field, H is the magnetic field strength, N is the number of turns of the coil, I is the current, and L is the length of the coil.

[0016] Compared with the prior art, the embodiments of the present invention have the following advantages: 1) The present invention introduces an electromagnetic hydraulic damper to enable the floating transmission tower to more effectively cope with the fluctuation and floating problems in the water environment. The electromagnetic hydraulic damper can automatically adjust the magnitude and direction of the damping force according to the magnitude and direction of the external fluctuation or floating force, thereby ensuring the stability and safety of the transmission tower.

[0017] 2) The design of the floating transmission tower proposed in the present invention is highly adaptable and can be customized and adjusted according to different water environments and power transmission requirements to ensure the best power transmission effect and stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a schematic diagram of a floating transmission tower in one embodiment of the present invention; Figure 2 is a cross-sectional schematic diagram of a riveted component in one embodiment of the present invention; Figure 3 is a schematic diagram of an electromagnetic hydraulic damper in one embodiment of the present invention; Figure 4 It is a working diagram of the electromagnetic coil in the piston in one embodiment of the present invention; Figure 5 is a flow chart of a control method for a floating transmission tower in one embodiment of the present invention; Reference numerals: Among them, 2. Transmission tower head; 3. Displacement sensor; 5. Transmission tower partition; 6. Pole tower cross arm; 7. Tilt sensor; 10. Tower foot; 11. Electromagnetic hydraulic damper; 12. Electromagnetic hydraulic damper; 13. Electromagnetic hydraulic damper; 14. Electromagnetic hydraulic damper; 15. Riveted parts; 16. Floating platform; 17. Hydraulic cylinder; 18. Electromagnetic fluid; 19. Piston rod; 20. Piston; 21. Electromagnetic coil; 22. Fluid channel; 23. Electromagnetic fluid; 24. Spherical part; 25. Base; 26. The flow direction of current in the electromagnetic coil. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] In the description of this application, the terms "first", "second", "third", etc. are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first", "second", "third", etc. may explicitly or implicitly include one or more of the feature. In the description of this application, unless otherwise specified, "plurality" means two or more.

[0021] In the description of the present application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" 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 it can be indirectly connected through an intermediate medium, or it can be a connection between the two elements. The terms "vertical", "horizontal", "left", "right", "upper", "lower" and similar expressions used herein are only for illustrative purposes, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0022] In the description of this application, it should be noted that, unless otherwise defined, all technical and scientific terms used in the present invention have the same meaning as those commonly understood by those skilled in the art. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood by specific circumstances.

[0023] It should be noted that the existing transmission tower load reduction method mainly relies on a large number of traditional elastic dampers to achieve balance and adjustment, but traditional elastic dampers may have limited response speed when facing sudden environmental changes and are difficult to adapt to rapidly changing ocean conditions. This may cause the tower system to be unable to adjust in time when the wind and waves change rapidly, thus affecting the overall stability.

[0024] Therefore, an embodiment of the present invention provides a floating transmission tower. For details, see Figure 1 , Figure 1 The figure shows a schematic diagram of a floating transmission tower in one embodiment of the present invention, which includes: A floating platform 16, a tower body and a number of electromagnetic hydraulic dampers 12; The tower foot platform of the tower body is connected to the driving end of the electromagnetic hydraulic damper 12, and each of the electromagnetic hydraulic dampers 12 is arranged on the top of the floating platform 16; The electromagnetic hydraulic damper 12 includes a hydraulic cylinder 17, an electromagnetic fluid 18, a piston 20, a piston rod 19 and a number of electromagnetic coils 21; The interior of the hydraulic cylinder 17 is filled with the electromagnetic fluid 18 whose damping force changes with the external current signal; the piston 20 arranged in the hydraulic cylinder 17 divides the hydraulic cylinder 17 into two chambers, and the piston 20 is provided with a fluid channel running through the two chambers, and one end of the piston 20 is fixedly connected to one end of the piston rod 19; the other end of the piston rod 19 is the driving end; each of the electromagnetic coils 21 is embedded in the piston 20 at a position surrounding the fluid channel, and the electromagnetic coils 21 are used to generate current signals.

[0025] The tower body includes a transmission tower head 2, a number of displacement sensors 3, a transmission tower cross arm, a transmission tower partition 5, a tower cross arm 6, a number of tilt sensors 7 and a tower foot 10.

[0026] In one embodiment of the present invention, the displacement sensor and the tilt sensor are respectively installed on the tower foot platform to monitor the displacement distance and tilt angle of the tower posture and sense the dynamic response of the tower in different directions.

[0027] In one embodiment of the present invention, four identical electromagnetic hydraulic dampers 11, 12, 13, and 14 are respectively installed between the tower foot 10 and the floating platform 16 of the transmission tower. The magnetic field generated by the current coil controls the viscosity of the internal fluid, generates a dynamic damping force opposite to the direction of movement of the tower, and reduces the vibration of the tower in the roll, pitch and heave directions.

[0028] It can be understood that the floating transmission tower proposed in the present application determines the current required to be input into the electromagnetic hydraulic damper through the dynamic data of inclination and displacement obtained in real time, thereby controlling the magnetic field generated by the electromagnetic coil inside the electromagnetic hydraulic damper, thereby adjusting the viscosity of the electromagnetic fluid inside the electromagnetic hydraulic damper, and then adjusting the damping force of the electromagnetic hydraulic damper to reduce the vibration of the tower in the roll, pitch and heave directions.

[0029] Preferably, in one embodiment of the present invention, the floating platform 16 is provided with a number of rivets 15, the rivets 15 include a sphere 24 and a base 25, the base 25 is fixedly connected to the floating platform 16, and the sphere 24 is connected to the electromagnetic hydraulic damper 12. Figure 2 As shown, Figure 2 Shown is a schematic cross-sectional view of a riveted component in one embodiment of the present invention.

[0030] It can be understood that the rivet 15 connects the tower foot and the floating platform, allowing multi-degree-of-freedom movement, avoiding the additional torque effect of the rigid connection on the floating platform, while maintaining the structural flexibility between the tower and the floating platform. The entire rivet system is installed on the floating platform floating on the sea surface, and the basic stability of the tower structure is supported by the bearing capacity of the floating platform.

[0031] In one embodiment of the present invention, the main shell of the electromagnetic hydraulic damper 12 is made of high-strength metal material to withstand high pressure and complex dynamic loads. The hydraulic cylinder 17 is filled with electromagnetic fluid 18, and the piston 20 can move up and down in the cylinder body, dividing the interior of the damper into two upper and lower chambers. The piston head is designed with two fluid channels 22 for the flow of liquid between the two chambers. The electromagnetic coil 21 surrounds the fluid channel to achieve magnetic field regulation. The electromagnetic fluid 18 is composed of base oil, iron particles and several other components that can suspend the iron particles. When this liquid is magnetized, it will change from a liquid to a muddy viscous substance. The electromagnetic hydraulic damper uses this characteristic of the electromagnetic fluid to adjust the damping force. Specifically, Figure 3 As shown, Figure 3 Shown is a schematic diagram of an electromagnetic hydraulic damper in one embodiment of the present invention.

[0032] It is understandable that when the electromagnetic hydraulic damper 12 installed on the tower foot 10 is compressed and stretched, the piston allows the electromagnetic fluid to flow through. When there is no power or the current is very small, the magnetic field strength generated by the electromagnetic coil is zero or very small, and the viscosity of the fluid is very small, so it is easy to flow through the fluid channel 22 of the piston. When a large current 26 passes through the electromagnetic coil 21, the magnetic field strength generated by the electromagnetic coil increases significantly, and the electromagnetic fluid will thicken into a muddy state, and its flow resistance will increase greatly. The greater the flow resistance, the higher the damping force will be. Therefore, the damping force can be adjusted to any desired level simply by changing the amount of current passing through the electromagnetic coil. Specifically, Figure 4 As shown, Figure 4 Shown is a schematic diagram of the operation of the electromagnetic coil in the piston in one embodiment of the present invention.

[0033] Unlike traditional valve core dampers, electromagnetic hydraulic dampers do not need to adjust the damping force through valves or other moving parts. The damping force is smoother and more coherent, and the internal structure is less complex. When the tower is affected by wind and waves and rolls, pitches, and heaves, the larger the roll or pitch angle or the larger the heave displacement, the electromagnetic hydraulic damper will increase the input current accordingly, the internal electromagnetic coil current will increase, the magnetic field strength will increase, the viscosity of the electromagnetic fluid will increase, and the damping force of the electromagnetic hydraulic damper will increase, so that the tower body will return to stability and achieve the purpose of fast and efficient adjustment. This is because the adjustment of its damping force is controlled by current, which can achieve almost instantaneous adjustment without any delay due to the opening and closing of the valve.

[0034] Preferably, in one embodiment of the present invention, the electromagnetic hydraulic damper further comprises a counter-electromagnetic coil having the same number as the electromagnetic coil; Each of the counter-electromagnetic coils is embedded in the piston, and the counter-electromagnetic coil is used to eliminate the influence of the temporary current generated by the electromagnetic coil on the magnetic field strength.

[0035] It is understandable, but for the electromagnetic coil, there is a small delay from closing the current to the damper losing the magnetic field, which is caused by the eddy current generated by the temporary current, that is, the induced current. These induced currents slow down the closing speed of the electromagnetic hydraulic damper, so Figure 4 As shown, the present application introduces a plurality of anti-electromagnetic coils wound in the opposite direction to the electromagnetic coil 21 in the electromagnetic hydraulic damper, so that the eddy currents are offset, thereby effectively eliminating the delay and making the active ballasting and leveling system of the floating transmission tower respond faster.

[0036] Another embodiment of the present invention provides a control method for a floating transmission tower. For details, see Figure 5 , Figure 5 The figure shows a flow chart of a control method of a floating transmission tower in one embodiment of the present invention, which includes steps S1-S4: S1: Obtain the marine environment data of the target sea area; Specifically, in order to understand the natural conditions of the target sea area, especially those factors that may affect the floating transmission towers, the marine environment data includes wind speed, wind direction and wave height.

[0037] S2: Analyze the marine environment data to determine the tower posture data of the target floating transmission tower; Specifically, nonlinear fitting is performed on the marine environment data and the tower attitude data. The present application performs nonlinear fitting through a neural network.

[0038] Preferably, in one embodiment of the present invention, analyzing the marine environment data to determine the tower posture data of the target floating transmission tower includes: Acquiring historical marine environment data of the target sea area and historical tower posture data of the target floating transmission tower; Based on the historical ocean environment data and the historical tower posture data, the constructed initial tower tilt model is trained to obtain a trained tower tilt model; When analyzing the tower attitude data of the target floating power transmission tower, the acquired real-time ocean environment data is input into the tower inclination model to obtain the tower attitude data of the target floating power transmission tower.

[0039] Specifically, historical ocean environment data of the target sea area is obtained from reliable data sources such as ocean monitoring stations, satellite remote sensing data, and buoys. These data include wind speed, wind direction, wave height, and other aspects. Historical attitude data of the target floating transmission tower is obtained through sensors or monitoring systems. These data include key parameters such as tilt angle and displacement.

[0040] An initial pole tower tilt model is constructed, and the initial model is trained using historical ocean environment data and historical pole tower posture data. In one embodiment of the present invention, a deep neural network (DNN) is selected as the framework of the initial pole tower tilt model.

[0041] Preferably, in one embodiment of the present invention, the training of the constructed initial tower tilt model based on the historical ocean environment data and the historical tower attitude data comprises: Construct an initial tower tilt model based on a deep neural network; Preprocessing the historical ocean environment data and the historical tower posture data to obtain a training data set; The initial pole tower inclination model is iteratively trained according to the training data set, and during the training process, the model parameters of the initial pole tower inclination model are optimized by a back propagation algorithm to obtain a trained pole tower inclination model.

[0042] Specifically, in the components of the initial tower tilt model, the input layer corresponds to the dimension of the historical ocean environment data, the output layer corresponds to the dimension of the historical tower posture data, and the weights and bias parameters of the network are randomly initialized.

[0043] Preferably, in one embodiment of the present invention, the preprocessing of the historical ocean environment data and the historical tower posture data to obtain a training data set includes: Performing time alignment processing on the historical ocean environment data and the historical tower posture data to obtain an initial data set; Extracting features from the initial data set to obtain target feature data, wherein the target features include wind speed, wind direction, wave height, tilt angle, and displacement value; The target feature data is standardized to obtain the training data set.

[0044] It is understandable that the historical ocean environment data and the historical tower attitude data are time-aligned to ensure that each pair of ocean environment data and tower attitude data corresponds to the same time point. This can be achieved by methods such as timestamp matching and interpolation to obtain the initial data set.

[0045] Target feature data are extracted from the initial data set. These features include wind speed, wind direction, wave height (these belong to marine environment data), as well as tilt angle and displacement values ​​(these belong to tower attitude data, but are used as part of the input during the training process to build the model's response to changes in the marine environment).

[0046] The extracted target feature data is standardized and scaled to the same scale range. The standardized processing can improve the convergence speed and performance of the model. In one embodiment of the present invention, methods such as min-max standardization and z-score standardization can be used. After the standardized processing, the training data set is obtained.

[0047] Set the learning rate, batch size, number of iterations and other parameters during the training process, and select the appropriate loss function and optimization algorithm. Use the training data set to iteratively train the initial tower tilt model. In each iteration, the output of the model is calculated through forward propagation, and the error between the output and the actual value is calculated through the loss function. Use the backpropagation algorithm to calculate the gradient of the error to the model parameters, and update the model parameters according to the optimization algorithm.

[0048] During the training process, the validation set data is used regularly to evaluate the performance of the model. The parameters, structure or training strategy of the model are adjusted according to the evaluation results. When the performance of the model on the validation set reaches the preset number of iterations, the training is stopped and the trained tower tilt model is obtained.

[0049] The acquired real-time ocean environment data is input into the trained tower tilt model to obtain the tower attitude data.

[0050] S3: generating a matching current signal according to the tower posture data; Preferably, in one embodiment of the present invention, the tower posture data includes a tilt angle and a displacement value; Among them, the tilt angle and displacement value can also be directly measured by the tilt sensor and the displacement sensor as a verification or supplement to the model prediction results.

[0051] The generating a matching current signal according to the tower posture data includes: Calculating the damping force to be adjusted of the target floating transmission tower based on the displacement value and the inclination angle; Calculating the magnetic field strength to be adjusted according to the damping force to be adjusted, and calculating the input current of the electromagnetic coil based on the magnetic field strength to be adjusted; A damping force of the electromagnetic fluid is adjusted based on the input current.

[0052] It is understandable that when the floating transmission tower is subjected to wind and wave loads, the control system of the electromagnetic hydraulic damper adjusts the current intensity of the electromagnetic coil according to the inclination angle and displacement value. The current intensity is proportional to the magnetic field intensity, so the magnetic field intensity can be controlled by adjusting the current. The change in magnetic field intensity directly affects the viscosity of the electromagnetic fluid inside the electromagnetic hydraulic damper. When the magnetic field intensity increases, the viscosity of the electromagnetic fluid increases, thereby increasing the damping force of the damper. According to the inclination angle and displacement value of the tower, the electromagnetic hydraulic damper dynamically adjusts its damping force. When the inclination angle or displacement value of the tower increases, the damper increases the input current, enhances the magnetic field intensity, and increases the viscosity of the electromagnetic fluid, thereby increasing the damping force and restoring the stability of the tower.

[0053] The electromagnetic hydraulic damper continuously adjusts the current of the internal coil according to the real-time monitored tilt angle and displacement value. This dynamic regulation enables the damper to adapt to changes in external loads in real time. By continuously adjusting the current intensity, the electromagnetic hydraulic damper can optimize its damping effect to effectively reduce the vibration of the tower in the roll, pitch and heave directions in the dynamic response.

[0054] Preferably, in one embodiment of the present invention, the damping force to be adjusted of the target floating transmission tower is calculated based on the displacement value and the inclination angle, and is expressed as: in, is the roll angle of the floating transmission tower, is the pitch angle of the floating transmission tower, is the vertical displacement of the floating transmission tower, M is the inertia value, C is the damping coefficient, K is the stiffness coefficient, and F w is the external disturbance force, F d is the damping force.

[0055] Preferably, in one embodiment of the present invention, the magnetic field strength to be adjusted is calculated according to the damping force to be adjusted, and the input current of the electromagnetic coil is calculated based on the magnetic field strength to be adjusted, which is expressed as: Where c is the geometric coefficient of the damper, η0 is the initial viscosity of the fluid, v is the relative speed of the damper movement, α is a constant that depends on the characteristics of the electromagnetic fluid, and n is an exponential parameter that is determined by the fluid material. is the initial strength of the magnetic field, H is the magnetic field strength, N is the number of turns of the coil, I is the current, and L is the length of the coil.

[0056] S4: Sending the current signal to the electromagnetic coil so that the electromagnetic fluid adjusts its damping force according to the received current signal.

[0057] Specifically, according to the tower attitude data (tilt angle and displacement value), the current signal matching the required damping force is calculated, and the generated current signal is transmitted to the electromagnetic coil through a conductive medium such as a wire or cable. When the current signal reaches the electromagnetic coil, a magnetic field is generated around the coil. The strength, direction and distribution of the magnetic field are determined by the size, direction and frequency of the current signal.

[0058] When electromagnetic fluid (usually magnetic fluid or conductive fluid) is exposed to a magnetic field, its internal charges or magnetic particles will be affected by force, thereby changing the flow state of the fluid. By precisely controlling the current signal, continuous and adjustable control of the damping force of the electromagnetic fluid can be achieved. When the current signal increases, the magnetic field increases, the force on the electromagnetic fluid increases, and the damping force also increases; conversely, when the current signal decreases, the damping force decreases.

[0059] Compared with the prior art, the embodiments of the present invention have the following advantages: 1) The present invention introduces an electromagnetic hydraulic damper to enable the floating transmission tower to more effectively cope with the fluctuation and floating problems in the water environment. The electromagnetic hydraulic damper can automatically adjust the magnitude and direction of the damping force according to the magnitude and direction of the external fluctuation or floating force, thereby ensuring the stability and safety of the transmission tower.

[0060] 2) The design of the floating transmission tower proposed in the present invention is highly adaptable and can be customized and adjusted according to different water environments and power transmission requirements to ensure the best power transmission effect and stability.

[0061] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A floating transmission tower, characterized in that: include: Floating platform, tower body and a number of electromagnetic hydraulic dampers; The tower foot platform of the tower body is connected to the driving end of the electromagnetic hydraulic damper, and each of the electromagnetic hydraulic dampers is arranged on the top of the floating platform; The electromagnetic hydraulic damper comprises a hydraulic cylinder, an electromagnetic fluid, a piston, a piston rod and a number of electromagnetic coils; The interior of the hydraulic cylinder is filled with the electromagnetic fluid whose damping force changes with the external current signal; the piston arranged in the hydraulic cylinder divides the hydraulic cylinder into two chambers, and the piston is provided with a fluid channel running through the two chambers, one end of the piston is fixedly connected to one end of the piston rod; the other end of the piston rod is the driving end; each of the electromagnetic coils is embedded in the piston at a position surrounding the fluid channel, and the electromagnetic coil is used to generate a current signal.

2. The floating transmission tower according to claim 1, characterized in that: The electromagnetic hydraulic damper also includes a counter electromagnetic coil having the same number as the electromagnetic coil; Each of the counter-electromagnetic coils is embedded in the piston, and the counter-electromagnetic coil is used to eliminate the influence of the temporary current generated by the electromagnetic coil on the magnetic field strength.

3. The floating transmission tower according to claim 1, characterized in that: The floating platform is provided with a number of riveted parts, and the riveted parts include a sphere and a base, the base is fixedly connected to the floating platform, and the sphere is connected to the electromagnetic hydraulic damper.

4. A control method for a floating transmission tower, applied to the floating transmission tower according to any one of claims 1 to 3, comprising: Obtain marine environmental data of the target sea area; Analyzing the marine environment data to determine tower posture data of a target floating transmission tower; Generating a matching current signal according to the tower posture data; The current signal is sent to the electromagnetic coil, so that the electromagnetic fluid adjusts its damping force according to the received current signal.

5. The control method of the floating transmission tower according to claim 4, characterized in that: The analyzing the marine environment data to determine the tower posture data of the target floating transmission tower includes: Acquiring historical marine environment data of the target sea area and historical tower posture data of the target floating transmission tower; Based on the historical ocean environment data and the historical tower posture data, the constructed initial tower tilt model is trained to obtain a trained tower tilt model; When analyzing the tower attitude data of the target floating power transmission tower, the acquired real-time ocean environment data is input into the tower inclination model to obtain the tower attitude data of the target floating power transmission tower.

6. The control method of the floating transmission tower according to claim 5, characterized in that: The training of the constructed initial tower tilt model based on the historical ocean environment data and the historical tower posture data includes: Construct an initial tower tilt model based on a deep neural network; Preprocessing the historical ocean environment data and the historical tower posture data to obtain a training data set; The initial pole tower inclination model is iteratively trained according to the training data set, and during the training process, the model parameters of the initial pole tower inclination model are optimized by a back propagation algorithm to obtain a trained pole tower inclination model.

7. The control method of the floating transmission tower according to claim 6, characterized in that: The preprocessing of the historical ocean environment data and the historical tower posture data to obtain a training data set includes: Performing time alignment processing on the historical ocean environment data and the historical tower posture data to obtain an initial data set; Extracting features from the initial data set to obtain target feature data, wherein the target features include wind speed, wind direction, wave height, tilt angle, and displacement value; The target feature data is standardized to obtain the training data set.

8. The control method of the floating transmission tower according to claim 4, characterized in that: The tower posture data includes an inclination angle and a displacement value; The generating a matching current signal according to the tower posture data includes: Calculating the damping force to be adjusted of the target floating transmission tower based on the displacement value and the inclination angle; Calculating the magnetic field strength to be adjusted according to the damping force to be adjusted, and calculating the input current of the electromagnetic coil based on the magnetic field strength to be adjusted; A damping force of the electromagnetic fluid is adjusted based on the input current.

9. The control method of the floating transmission tower according to claim 8, characterized in that: The damping force to be adjusted of the target floating transmission tower is calculated based on the displacement value and the inclination angle, which is expressed as: in, is the roll angle of the floating transmission tower, is the pitch angle of the floating transmission tower, is the vertical displacement of the floating transmission tower, M is the inertia value, C is the damping coefficient, K is the stiffness coefficient, and F w is the external disturbance force, F d is the damping force.

10. The control method of the floating transmission tower according to claim 8, characterized in that: The magnetic field strength to be adjusted is calculated according to the damping force to be adjusted, and the input current of the electromagnetic coil is calculated based on the magnetic field strength to be adjusted, which is expressed as: Where c is the geometric coefficient of the damper, η0 is the initial viscosity of the fluid, v is the relative speed of the damper movement, α is a constant that depends on the characteristics of the electromagnetic fluid, and n is an exponential parameter that is determined by the fluid material. is the initial strength of the magnetic field, H is the magnetic field strength, N is the number of turns of the coil, I is the current, and L is the length of the coil.

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