A floating transmission tower and its control method

Abstract

The present invention discloses a floating transmission tower and its control method. The transmission tower includes: 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 electromagnetic hydraulic damper is arranged on the top of the floating platform; the electromagnetic hydraulic damper includes a hydraulic cylinder, an electromagnetic fluid, a piston, a piston rod, and a number of electromagnetic coils; the hydraulic cylinder is filled with an electromagnetic fluid whose damping force changes with the change of an external current signal; the piston arranged in the hydraulic cylinder divides the hydraulic cylinder into two chambers, the piston is provided with a fluid passage penetrating through the two chambers, and 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 electromagnetic coil is embedded in the piston at a position surrounding the fluid passage, and the electromagnetic coil is used to generate a current signal. The floating transmission tower provided by the present invention reduces the impact and damage caused by sea winds and waves.

Description

Technical Field

[0001] The present invention relates to the technical field of offshore power transmission, and particularly 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 and is receiving increasing attention and application. In the process of transmitting power from offshore wind power, the power transmission tower plays a crucial role.

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

[0004] It can be seen that how to design a power transmission tower applied to the water environment to reduce the impact and damage of offshore wind waves has become a technical problem that needs to be solved urgently by those skilled in the art. Summary of the Invention

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

[0006] To solve the above technical problem, an embodiment of the present invention provides a floating power transmission tower, including: a floating platform, a tower body, and a plurality of electromagnetic hydraulic dampers;

[0007] The tower foot platform of the tower body is connected to the driving end of the electromagnetic hydraulic damper, and each electromagnetic hydraulic damper is arranged on the top of the floating platform;

[0008] The electromagnetic hydraulic damper includes a hydraulic cylinder, an electromagnetic fluid, a piston, a piston rod, and a plurality of electromagnetic coils;

[0009] The hydraulic cylinder is filled with the electromagnetic fluid whose damping force changes with the change of the external current signal; the piston arranged in the hydraulic cylinder divides the hydraulic cylinder into two chambers, the piston is provided with a fluid passage penetrating through the two chambers, and 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 electromagnetic coil is embedded in the piston around the position of the fluid passage, and the electromagnetic coil is used to generate a current signal.

[0010] As a preferred solution, the electromagnetic hydraulic damper further includes anti-electromagnetic coils with the same number as the electromagnetic coils;

[0011] Each of the anti-electromagnetic coils is embedded in the piston, and the anti-electromagnetic coil is used to eliminate the influence of the temporary current generated by the electromagnetic coil on the magnetic field intensity.

[0012] As one of the preferred solutions, a plurality of riveting members are provided on the floating platform. The riveting members include spheres and bases. The bases are fixedly connected to the floating platform, and the spheres are connected to the electromagnetic hydraulic damper.

[0013] 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:

[0014] Obtain the marine environment data of the target sea area;

[0015] Analyze the marine environment data to determine the tower attitude data of the target floating transmission tower;

[0016] Generate a matching current signal according to the tower attitude data;

[0017] Send the current signal to the electromagnetic coil so that the electromagnetic fluid adjusts its own damping force according to the received current signal.

[0018] As one of the preferred solutions, the analyzing the marine environment data to determine the tower attitude data of the target floating transmission tower includes:

[0019] Obtain the historical marine environment data of the target sea area and the historical tower attitude data of the target floating transmission tower;

[0020] Train the initial tower inclination model constructed based on the historical marine environment data and the historical tower attitude data to obtain a trained tower inclination model;

[0021] When analyzing the tower attitude data of the target floating transmission tower, input the obtained real-time marine environment data into the tower inclination model to obtain the tower attitude data of the target floating transmission tower.

[0022] As one of the preferred solutions, the training the initial tower inclination model constructed based on the historical marine environment data and the historical tower attitude data includes:

[0023] Construct an initial tower inclination model based on a deep neural network;

[0024] Preprocess the historical marine environment data and the historical tower attitude data to obtain a training data set;

[0025] Iteratively train the initial pole tower inclination model according to the training data set, and during the training process, optimize the model parameters of the initial pole tower inclination model through the backpropagation algorithm to obtain the trained pole tower inclination model.

[0026] As one of the preferred solutions, the preprocessing of the historical marine environment data and the historical pole tower attitude data to obtain a training data set includes:

[0027] Perform time alignment processing on the historical marine environment data and the historical pole tower attitude data to obtain an initial data set;

[0028] Extract features from the initial data set to obtain target feature data, where the target features include wind speed, wind direction, wave height, inclination angle, and displacement value;

[0029] Perform standardization processing on the target feature data to obtain the training data set.

[0030] As one of the preferred solutions, the pole tower attitude data includes an inclination angle and a displacement value;

[0031] The generation of a matching current signal according to the pole tower attitude data includes:

[0032] Calculate the damping force to be adjusted for the target floating transmission tower based on the displacement value and the inclination angle;

[0033] Calculate the magnetic field strength to be adjusted according to the damping force to be adjusted, and calculate the input current of the electromagnetic coil based on the magnetic field strength to be adjusted;

[0034] Adjust the damping force of the electromagnetic fluid based on the input current.

[0035] As one of the preferred solutions, the calculation of the damping force to be adjusted for the target floating transmission tower based on the displacement value and the inclination angle is expressed as:

[0036]

[0037] Where is the roll angle of the floating transmission tower, is the pitch angle of the floating transmission tower, is the heave displacement of the floating transmission tower, M is the inertia value, C is the damping coefficient, K is the stiffness coefficient, F w is the external disturbing force, F d is the damping force.

[0038] As one of the preferred solutions, 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, which is expressed as:

[0039]

[0040]

[0041] where c is the geometric coefficient of the damper, η 0 is the initial viscosity of the fluid, v is the relative velocity of the damper movement, α is a constant depending on the characteristics of the electro-magnetic fluid, n is an exponential parameter 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 magnitude of the current, and L is the length of the coil.

[0042] Compared with the prior art, the beneficial effects of the embodiments of the present invention are at least one of the following:

[0043] 1) By introducing an electro-magnetic hydraulic damper, the floating transmission tower of the present invention can more effectively cope with the fluctuations and floating problems in the water area environment. The electro-magnetic 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.

[0044] 2) The design of the floating transmission tower proposed by the present invention has high adaptability and can be customized and adjusted according to different water area environments and transmission requirements to ensure the best transmission effect and stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 is a schematic diagram of a floating transmission tower in one embodiment of the present invention;

[0046] Figure 2 is a schematic cross-sectional view of a riveting part in one embodiment of the present invention;

[0047] Figure 3 is a schematic diagram of an electro-magnetic hydraulic damper in one embodiment of the present invention;

[0048] Figure 4 is a working diagram of an electromagnetic coil in a piston in one embodiment of the present invention;

[0049] Figure 5 is a flowchart of a control method for a floating transmission tower in one embodiment of the present invention;

[0050] Reference Signs:

[0051] Among them, 2, the tower head of the transmission tower; 3, the displacement sensor; 5, the partition of the transmission tower; 6, the cross arm of the pole tower; 7, the inclination sensor; 10, the tower foot; 11, the electromagnetic hydraulic damper; 12, the electromagnetic hydraulic damper; 13, the electromagnetic hydraulic damper; 14, the electromagnetic hydraulic damper; 15, the riveting part; 16, the floating platform; 17, the hydraulic cylinder; 18, the electro-magnetic fluid; 19, the piston rod; 20, the piston; 21, the electromagnetic coil; 22, the fluid passage; 23, the electro-magnetic fluid; 24, the spherical part; 25, the base; 26, the flowing direction of the current in the electromagnetic coil. Detailed implementation manners

[0052] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all 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 in the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0053] In the description of this application, the terms "first", "second", "third", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first", "second", "third", etc. may explicitly or implicitly include one or more of such features. In the description of this application, unless otherwise stated, the meaning of "a plurality" is two or more.

[0054] In the description of this application, it should be noted that unless otherwise clearly specified and limited, the terms "installed", "connected", "connected" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected, or indirectly connected through an intermediate medium, and it may be the communication inside two components. The terms "vertical", "horizontal", "left", "right", "up", "down" and similar expressions used herein are only for the purpose of illustration, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be understood as a limitation of the present invention. The term "and / or" used herein includes any and all combinations of one or more of the 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 situations.

[0055] In the description of the present 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 technical field to which the present invention belongs. The terms used in the description 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 the present application can be understood according to specific circumstances.

[0056] It should be noted in advance that the existing methods for reducing the load of transmission towers mainly rely on a large number of traditional elastic dampers to achieve balance and adjustment. However, 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, thereby affecting the overall stability.

[0057] Therefore, an embodiment of the present invention provides a floating transmission tower. Specifically, please refer to Figure 1 , Figure 1 which shows a schematic diagram of the floating transmission tower in one of the embodiments of the present invention, and it includes:

[0058] a floating platform 16, a tower body, and a plurality of electromagnetic hydraulic dampers 12;

[0059] The tower foot platform of the tower body is connected to the driving end of the electromagnetic hydraulic damper 12, and each electromagnetic hydraulic damper 12 is arranged on the top of the floating platform 16;

[0060] The electromagnetic hydraulic damper 12 includes a hydraulic cylinder 17, an electro-magnetic fluid 18, a piston 20, a piston rod 19, and a plurality of electromagnetic coils 21;

[0061] The hydraulic cylinder 17 is filled with the electro-magnetic 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. The piston 20 is provided with a fluid passage penetrating through the two chambers. 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 electromagnetic coil 21 is embedded in the piston 20 around the position of the fluid passage, and the electromagnetic coil 21 is used to generate a current signal.

[0062] Among them, the tower body includes a transmission tower tower head 2, a plurality of displacement sensors 3, a transmission tower cross arm, a transmission tower partition 5, a tower cross arm 6, a plurality of tilt sensors 7, and a tower foot 10.

[0063] In an embodiment of the present invention, the displacement sensors and tilt sensors 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.

[0064] In an embodiment of the present invention, four identical electro-magnetic hydraulic dampers 11, 12, 13, and 14 are respectively installed between the tower feet 10 of the transmission tower and the floating platform 16. By controlling the viscosity of the internal fluid through the magnetic field generated by the current coil, a dynamic damping force opposite to the movement direction of the tower is generated to reduce the vibration of the tower in the roll, pitch, and heave directions.

[0065] It can be understood that the floating transmission tower proposed in this application determines the current required to be input into the electro-magnetic hydraulic damper through the dynamically acquired inclination and displacement data in real time, so as to control the magnetic field generated by the electro-magnetic coil inside the electro-magnetic hydraulic damper, thereby adjusting the viscosity of the electro-magnetic fluid inside the electro-magnetic hydraulic damper, and further adjusting the damping force of the electro-magnetic hydraulic damper to reduce the vibration of the tower in the roll, pitch, and heave directions.

[0066] Preferably, in an embodiment of the present invention, a plurality of riveting parts 15 are provided on the floating platform 16. The riveting parts 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 electro-magnetic hydraulic damper 12. Specifically, as Figure 2 shown, Figure 2 It shows a schematic cross-section of the riveting part in one of the embodiments of the present invention.

[0067] It can be understood that the riveting part 15 connects the tower foot and the floating platform, allowing multi-degree-of-freedom movement, avoiding the influence of additional torque on the floating platform caused by rigid connection, and at the same time maintaining the structural flexibility between the tower and the floating platform. The entire riveting part 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.

[0068] In an embodiment of the present invention, the main body shell of the electro-magnetic 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 electro-magnetic fluid 18 inside, and the piston 20 can move up and down in the cylinder body, dividing the inside of the damper into two upper and lower chambers. The piston head is designed with 2 fluid channels 22 for the liquid to flow between the two chambers. The electro-magnetic coil 21 is wound around the periphery of the fluid channel to achieve magnetic field regulation. The electro-magnetic 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 and viscous substance. The electro-magnetic hydraulic damper utilizes this characteristic of the electro-magnetic fluid to adjust the damping force. Specifically, as Figure 3 shown, Figure 3 It shows a schematic diagram of the electro-magnetic hydraulic damper in one of the embodiments of the present invention.

[0069] It can be understood that when the electromagnetic hydraulic damper 12 installed at the tower foot 10 is compressed and stretched, the piston allows the electromagnetic fluid to flow through. When not energized or with a very small current, the magnetic field intensity generated by the electromagnetic coil is zero or very small, and the viscosity of the fluid is very small, so it is very easy for the fluid to flow through the fluid passage 22 of the piston. When a large current 26 passes through the electromagnetic coil 21, the magnetic field intensity generated by the electromagnetic coil increases significantly, and the electromagnetic fluid will thicken into a muck-like state, and its flow resistance increases greatly. The greater the flow resistance, the higher the damping force. Therefore, the damping force can be adjusted to any desired level only by changing the current flowing through the electromagnetic coil. Specifically, as Figure 4 shown, Figure 4 Figure 4 shows a schematic diagram of the operation of the electromagnetic coil in the piston in one embodiment of the present invention.

[0070] Different from the traditional spool damper, the electromagnetic hydraulic damper does not need to adjust the damping force through valves or other moving parts, and the damping force is smoother and more coherent, and the internal structure complexity is lower. When the tower is affected by wind and waves and undergoes rolling, pitching and heaving, the greater the roll or pitch angle or the greater the heaving displacement, the electromagnetic hydraulic damper will correspondingly increase the input current, the current of the internal electromagnetic coil increases, the magnetic field intensity increases, the viscosity of the electromagnetic fluid increases, and the damping force of the electromagnetic hydraulic damper becomes larger, so that the tower body of the tower returns to stability, achieving the purpose of rapid and efficient adjustment. This is because the adjustment of its damping force is controlled by current, and almost instantaneous adjustment can be achieved without any delay caused by the opening and closing of the valve.

[0071] Preferably, in one embodiment of the present invention, the electromagnetic hydraulic damper further includes anti-electromagnetic coils having the same number as the electromagnetic coils;

[0072] Each of the anti-electromagnetic coils is embedded in the piston, and the anti-electromagnetic coil is used to eliminate the influence of the temporary current generated by the electromagnetic coil on the magnetic field intensity.

[0073] It can be understood that, however, for the electromagnetic coil, there is a small delay from turning off the current to the damper losing its 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 as Figure 4 shown, in this application, a plurality of anti-electromagnetic coils wound in the opposite direction to the electromagnetic coil 21 are introduced into the electromagnetic hydraulic damper, so that the eddy current is cancelled out, thereby effectively eliminating the delay and making the active ballast leveling system of the floating transmission tower respond faster.

[0074] Another embodiment of the present invention provides a control method for a floating transmission tower. Specifically, please refer to Figure 5 , Figure 5The flowchart of the control method for a floating transmission tower in one embodiment of the present invention is shown, which includes steps S1 - S4:

[0075] S1: Obtain the marine environment data of the target sea area;

[0076] Specifically, in order to understand the natural conditions of the target sea area, especially those factors that may affect the floating transmission tower. Among them, the marine environment data includes wind speed, wind direction, wave height, etc.

[0077] S2: Analyze the marine environment data to determine the tower posture data of the target floating transmission tower;

[0078] Specifically, perform non - linear fitting on the marine environment data and the tower posture data. In this application, non - linear fitting is performed through a neural network.

[0079] Preferably, in one embodiment of the present invention, the analyzing the marine environment data to determine the tower posture data of the target floating transmission tower includes:

[0080] Obtain the historical marine environment data of the target sea area and the historical tower posture data of the target floating transmission tower;

[0081] Train the constructed initial tower tilt model based on the historical marine environment data and the historical tower posture data to obtain a trained tower tilt model;

[0082] When analyzing the tower posture data of the target floating transmission tower, input the obtained real - time marine environment data into the tower tilt model to obtain the tower posture data of the target floating transmission tower.

[0083] Specifically, obtain the historical marine environment data of the target sea area from reliable data sources such as marine monitoring stations, satellite remote sensing data, and buoys. These data include multiple aspects such as wind speed, wind direction, and wave height. Obtain the historical posture data of the target floating transmission tower through sensors or monitoring systems. These data include key parameters such as tilt angle and displacement.

[0084] Construct an initial tower tilt model and use the historical marine environment data and historical tower posture data to train the initial model. In one embodiment of the present invention, a deep neural network (DNN) is selected as the framework of the initial tower tilt model.

[0085] Preferably, in one embodiment of the present invention, the training the constructed initial tower tilt model based on the historical marine environment data and the historical tower posture data includes:

[0086] Construct an initial tower inclination model based on a deep neural network;

[0087] Preprocess the historical marine environment data and the historical tower attitude data to obtain a training dataset;

[0088] Iteratively train the initial tower inclination model according to the training dataset, and during the training process, optimize the model parameters of the initial tower inclination model through the backpropagation algorithm to obtain a trained tower inclination model.

[0089] Specifically, in the components of the initial tower inclination model, the input layer corresponds to the dimension of the historical marine environment data, the output layer corresponds to the dimension of the historical tower attitude data, and the weights and bias parameters of the network are randomly initialized.

[0090] Preferably, in an embodiment of the present invention, the preprocessing of the historical marine environment data and the historical tower attitude data to obtain a training dataset includes:

[0091] Perform time alignment processing on the historical marine environment data and the historical tower attitude data to obtain an initial dataset;

[0092] Extract target feature data from the initial dataset, and the target features include wind speed, wind direction, wave height, inclination angle, and displacement value;

[0093] Perform normalization processing on the target feature data to obtain the training dataset.

[0094] It can be understood that performing time alignment processing on the historical marine environment data and the historical tower attitude data ensures that each pair of marine environment data and tower attitude data corresponds at the same time point. This can be achieved through methods such as timestamp matching and interpolation to obtain an initial dataset.

[0095] Extract target feature data from the initial dataset. These features include wind speed, wind direction, wave height (which belong to the marine environment data), and inclination angle and displacement value (which belong to the tower attitude data but are used as part of the input during the training process to construct the model's response to changes in the marine environment).

[0096] Perform normalization processing on the extracted target feature data to scale the data to the same scale range. Normalization processing can improve the convergence speed and performance of the model. In an embodiment of the present invention, methods such as min-max normalization and z-score normalization can be used. After normalization processing, a training dataset is obtained.

[0097] Set parameters such as the learning rate, batch size, and number of iterations during the training process, and select appropriate loss functions and optimization algorithms. Use the training dataset to iteratively train the initial tower inclination model. In each iteration, calculate the output of the model through forward propagation, and calculate the error between the output and the actual value through the loss function. Use the backpropagation algorithm to calculate the gradient of the error with respect to the model parameters, and update the model parameters according to the optimization algorithm.

[0098] During the training process, regularly use the validation set data to evaluate the performance of the model. Adjust the model parameters, structure, or training strategy according to the evaluation results. When the performance of the model on the validation set reaches the preset number of iterations, stop the training to obtain the trained tower inclination model.

[0099] Input the obtained real-time marine environment data into the trained tower inclination model to obtain the tower attitude data.

[0100] S3: Generate a matching current signal according to the tower attitude data;

[0101] Preferably, in an embodiment of the present invention, the tower attitude data includes an inclination angle and a displacement value;

[0102] Among them, the inclination angle and displacement value can also be directly measured by an inclination sensor and a displacement sensor as a verification or supplement to the model prediction result.

[0103] The generating a matching current signal according to the tower attitude data includes:

[0104] Calculate the damping force to be adjusted of the target floating transmission tower based on the displacement value and the inclination angle;

[0105] Calculate the magnetic field strength to be adjusted according to the damping force to be adjusted, and calculate the input current of the electromagnetic coil based on the magnetic field strength to be adjusted;

[0106] Adjust the damping force of the electro-magnetic fluid based on the input current.

[0107] It can be understood that when the floating transmission tower is subjected to wind and wave loads, the control system of the electro-magnetic 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 strength, so the magnetic field strength can be controlled by adjusting the current. The change of the magnetic field strength directly affects the viscosity of the electro-magnetic fluid inside the electro-magnetic hydraulic damper. When the magnetic field strength increases, the viscosity of the electro-magnetic fluid increases, thereby increasing the damping force of the damper. According to the inclination angle and displacement value of the tower, the electro-magnetic 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 strength, increases the viscosity of the electro-magnetic fluid, thereby increasing the damping force and making the tower return to stability.

[0108] Based on the tilt angle and displacement value monitored in real time, the electromagnetic hydraulic damper continuously adjusts the current of the internal coil. This dynamic regulation enables the damper to adapt to the 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 roll, pitch, and heave vibrations of the transmission tower in dynamic response.

[0109] Preferably, in an embodiment of the present invention, calculating the damping force to be adjusted for the target floating transmission tower based on the displacement value and the tilt angle, which is expressed as:

[0110]

[0111] Wherein, is the roll angle of the floating transmission tower, is the pitch angle of the floating transmission tower, is the heave displacement of the floating transmission tower, M is the inertia value, C is the damping coefficient, K is the stiffness coefficient, F w is the external disturbing force, F d is the damping force.

[0112] Preferably, in an embodiment of the present invention, 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, which is expressed as:

[0113]

[0114]

[0115] Wherein, c is the geometric coefficient of the damper, η 0 is the initial viscosity of the fluid, v is the relative velocity of the damper movement, α is a constant depending on the characteristics of the electromagnetic fluid, n is an exponential parameter 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 magnitude, and L is the coil length.

[0116] S4: Sending the current signal to the electromagnetic coil so that the electromagnetic fluid adjusts its own damping force according to the received current signal.

[0117] Specifically, according to the tower attitude data (tilt angle and displacement value), a 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 will be generated around the coil, and the intensity, direction, and distribution of the magnetic field are determined by the magnitude, direction, and frequency of the current signal.

[0118] In an electromagnetic fluid (usually a magnetohydrodynamic fluid or a conductive fluid), under the action of a magnetic field, the internal charges or magnetic particles are subjected to forces, thereby changing the flow state of the fluid. By precisely controlling the current signal, continuous and adjustable control of the electromagnetic fluid damping force can be achieved. When the current signal increases, the magnetic field strengthens, the force on the electromagnetic fluid increases, and the damping force also increases; conversely, when the current signal decreases, the damping force decreases.

[0119] Compared with the prior art, the beneficial effects of the embodiments of the present invention are at least one of the following:

[0120] 1) By introducing an electromagnetic hydraulic damper, the floating transmission tower of the present invention can more effectively cope with fluctuations and floating problems in the water area 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.

[0121] 2) The design of the floating transmission tower proposed by the present invention has high adaptability and can be customized and adjusted according to different water area environments and transmission requirements to ensure the best transmission effect and stability.

[0122] The above-described embodiments only represent several implementation manners of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the patent of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made, and these 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 appended claims.

Claims

1. A method for controlling a floating transmission tower, characterized in that: The floating transmission tower comprises: 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 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 electromagnetic coil is embedded in the piston at a position surrounding the fluid channel, and the electromagnetic coil is used to generate a current signal; The control method of the floating transmission tower comprises: 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; Sending the current signal to the electromagnetic coil so that the electromagnetic fluid adjusts its damping force according to the received current signal; Wherein, the tower posture data includes the tilt angle and 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; adjusting a damping force of the electromagnetic fluid based on the input current; 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.

2. The control method of 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 control method of 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. The control method of the floating transmission tower according to claim 1, 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.

5. The control method of the floating transmission tower according to claim 4, 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.

6. The control method of the floating transmission tower according to claim 5, 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.

7. The control method of the floating transmission tower according to claim 1, 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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