Control methods and control systems for wind turbine maintenance vessel roof-mounted wind pile operations

Abstract

This invention relates to a control method and control system for wind turbine maintenance vessels navigating wind piles, belonging to the technical field of wind turbine maintenance vessels. It utilizes high-precision CFD numerical simulation to construct a mapping database containing data on wave environment, vessel loading status, and main engine thrust; deploys wave-measuring buoys near the wind piles to measure wave parameters in real time; queries the database to predict the motion response based on the current state; collects actual motion data to correct the database; calculates the vessel's motion state during navigating, considering the elasticity and friction coefficients of the rubber pads, and dynamically adjusts the heading, main engine power, and loading status based on the corrected prediction results to control the motion response within a preset range. This invention balances economy and comfort, effectively controlling the motion response of wind turbine maintenance vessels during navigating wind piles.

Description

Technical Field

[0001] This invention relates to the field of wind power maintenance vessel technology, and in particular to a control method and control system for wind power maintenance vessel roof-mounted pile operations. Background Technology

[0002] When maintaining wind turbines by placing them against wind piles on the top of a wind turbine maintenance vessel, the vessel typically travels at a low speed, using rubber pads on the bow to hold the wind pile in place. Then, it increases its horsepower to maintain the relative position between the vessel and the wind pile using friction.

[0003] When a wind turbine maintenance vessel is preparing to mate with a wind pile, its low speed makes it susceptible to significant motion response due to the excitation of waves in rough sea conditions. Choosing a suitable course of navigation can effectively reduce the amplitude of this motion response. During mate operations, a higher main engine power results in less relative motion between the vessel and the wind pile. However, excessive power can cause impact on the wind pile, which is detrimental to its long-term operation; it also consumes more fuel, negatively impacting the economics of wind turbine maintenance. Conversely, insufficient power can lead to excessive motion response, preventing the vessel from properly mate with the wind pile or causing seasickness among crew members, compromising their comfort.

[0004] Therefore, to balance economy and comfort, the wind power operation and maintenance vessel needs to control the vessel's motion response within a certain range when it is close to the wind pile. The control of the vessel is generally adjusted by the captain based on experience according to the on-site wind and wave conditions, which has a high degree of uncertainty and requires effective theoretical guidance. Summary of the Invention

[0005] To address the shortcomings of existing production technologies, the applicant provides a control method and control system for wind turbine maintenance vessels operating near wind piles. This system can balance economy and comfort for wind turbine maintenance vessels operating near wind piles, and control the vessel's motion response within a suitable range by adjusting the vessel's heading, main engine power, and load.

[0006] The technical solution adopted in this invention is as follows: A control method for wind turbine maintenance vessel roof-mounted wind pile operation, comprising the following steps:

[0007] Step 1: Construct a numerical simulation database of wave environment motion for wind power operation and maintenance vessels. The database is generated using a high-precision CFD numerical simulation method and stores the mapping relationship of wave wavelength, wave height, vessel loading status, main engine thrust, and vessel motion response data points.

[0008] Step 2: Deploy wave-measuring buoys near the wind piles to measure wave parameters in the work area in real time, including wave height and wave period;

[0009] Step 3: Based on the current loading status of the wind turbine maintenance vessel, the main engine thrust, and the wave parameters obtained by the wave measuring buoy, interpolate and query from the database to predict the motion response of the front of the wind turbine maintenance vessel.

[0010] Step four: Collect actual motion data through the attitude sensors on the wind power operation and maintenance vessel, compare it with the prediction results of step three, and correct the mapping relationship in the database.

[0011] Step 5: Based on the corrected motion response prediction results, and combined with the elastic coefficient and friction coefficient of the rubber pad at the bow of the wind power maintenance vessel, calculate the vessel's motion state during the head-on approach.

[0012] Step six: By dynamically adjusting the course, main engine power and loading status of the wind power maintenance vessel, the vessel's motion response amplitude is controlled within a preset range to achieve the docking operation.

[0013] As a further improvement to the above technical solution:

[0014] Preferably, the high-precision CFD numerical simulation method in step one includes solving the six-degree-of-freedom motion equations of the ship; the equations decompose the ship configuration, weight, and center of gravity into rotational inertia parameters, and decompose the wave parameters, main engine power, and heading into forces and torques acting on the ship, and obtain motion response data under different working conditions through numerical simulation.

[0015] Preferably, the motion response prediction in step three includes the displacement amplitudes of the ship's sway, pitch, and heave, as well as the angular displacement amplitudes of the roll, pitch, and bow.

[0016] Preferably, the dynamic adjustment in step six includes at least one of the following methods:

[0017] Adjust the ship's course according to the wave direction so that the bow of the ship forms a preset angle with the main direction of the waves;

[0018] The host power is adjusted to balance friction and impact force based on the deviation between the motion response amplitude and the preset threshold.

[0019] Ship stability can be optimized by adjusting the distribution of ballast water or cargo to change the position of the center of gravity.

[0020] Preferably, the wave-measuring buoy is arranged in a fan-shaped area around the wind pile, covering the wave incident direction during the top-mounted operation.

[0021] A control system for wind turbine maintenance vessel roof-mounted pile operations includes:

[0022] Wave-measuring buoys are placed around the wind piles to collect wave parameters in real time.

[0023] An attitude sensor, installed on the wind power operation and maintenance vessel, is used to monitor the vessel's motion data;

[0024] The database module stores numerical simulation data of wave environment motion of wind power operation and maintenance vessels;

[0025] The control module is configured to execute the control method described above and generate adjustment commands for heading, main engine power, and loading status based on real-time data.

[0026] An actuator is used to adjust the ship's course, main engine power, and loading status according to the adjustment instructions.

[0027] Preferably, the actuator includes an autopilot system, a main engine power regulator, and a ballast water control system. The autopilot system controls the ship's steering according to the heading adjustment command, the main engine power regulator adjusts the main engine output power in real time, and the ballast water control system changes the ship's center of gravity position by adjusting the ballast water distribution.

[0028] Preferably, the control module includes a machine learning unit for optimizing the interpolation algorithm of the database based on historical motion data and improving the accuracy of motion response prediction.

[0029] The beneficial effects of this invention are as follows:

[0030] This invention features high-precision prediction and control. By constructing a high-precision numerical simulation database and combining it with real-time measured wave parameters, it can accurately predict the motion response of ships, thereby achieving refined control and improving the stability and safety of operations.

[0031] This invention also features real-time correction and optimization, using actual motion data to correct the prediction results and continuously optimize the mapping relationship of the database, thereby improving prediction accuracy and control precision.

[0032] Meanwhile, the present invention adopts multi-dimensional dynamic adjustment. Based on the prediction results, the motion response amplitude is controlled within a preset range by dynamically adjusting the ship's course, main engine power and loading status, effectively balancing the needs of economy and comfort. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the wind turbine maintenance vessel's roof being near the wind pile in one embodiment of this application.

[0034] Figure 2 for Figure 1 Top view.

[0035] Figure 3 This is a schematic diagram of the arrangement of the wave measuring float.

[0036] Figure 4This is a schematic diagram of the control process for the wind turbine maintenance vessel's roof-mounted wind pile operation in this application.

[0037] Among them: 1. Wind power operation and maintenance vessel; 2. Wind pile; 3. Wave measuring buoy. Detailed Implementation

[0038] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. In the description of the present invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0039] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0040] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0041] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0042] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0043] like Figures 1-4 As shown, the present invention provides a control method for wind turbine maintenance vessel roof-mounted pile operations, comprising the following steps:

[0044] Step 1: Construct a numerical simulation database of wave environment motion for wind power operation and maintenance vessels. The database is generated using a high-precision CFD numerical simulation method and stores the mapping relationship of data points including wave wavelength, wave height, vessel loading status, main engine thrust, and vessel motion response.

[0045] Step 2: Deploy wave measuring buoys 3 near wind pile 2 to measure wave parameters in the work area in real time, including wave height and wave period;

[0046] Step 3: Based on the current loading status of the wind turbine maintenance vessel 1, the main engine thrust, and the wave parameters obtained by the wave measuring buoy 3, interpolate from the database to predict the motion response of the front of the wind turbine maintenance vessel.

[0047] Step 4: Collect actual motion data through the attitude sensor on the wind power maintenance vessel 1, compare it with the prediction results in Step 3, and correct the mapping relationship in the database.

[0048] Step 5: Based on the corrected motion response prediction results, and combined with the elastic coefficient and friction coefficient of the rubber pad at the bow of the wind power maintenance vessel, calculate the ship's motion state during the head-on approach.

[0049] Step 6: By dynamically adjusting the course, main engine power and loading status of the wind power maintenance vessel 1, the vessel's motion response amplitude is controlled within a preset range to achieve the docking operation.

[0050] In some embodiments, the high-precision CFD numerical simulation method in step one includes solving the six-degree-of-freedom motion equations of the ship; the equations decompose the ship configuration, weight, and center of gravity into rotational inertia parameters, and decompose the wave parameters, main engine power, and heading into forces and torques acting on the ship, and obtain motion response data under different working conditions through numerical simulation.

[0051] In some embodiments, the motion response prediction in step three includes the displacement amplitudes of the ship's sway, pitch, and heave, as well as the angular displacement amplitudes of the roll, pitch, and bow.

[0052] In some embodiments, the dynamic adjustment in step six includes at least one of the following methods:

[0053] Adjust the ship's course according to the wave direction so that the bow of the ship forms a preset angle with the main direction of the waves;

[0054] The host power is adjusted to balance friction and impact force based on the deviation between the motion response amplitude and the preset threshold.

[0055] Ship stability can be optimized by adjusting the distribution of ballast water or cargo to change the position of the center of gravity.

[0056] In some embodiments, the wave-measuring buoy 3 is arranged in a fan-shaped area around the wind pile 2 to cover the wave incident direction during the top-mounted operation.

[0057] In other embodiments, a control system for wind turbine maintenance vessel roof-mounted pile operation is also provided, comprising:

[0058] Wave measuring buoy 3 is arranged around wind pile 2 to collect wave parameters in real time;

[0059] An attitude sensor, installed on wind power maintenance vessel 1, is used to monitor vessel motion data;

[0060] The database module stores numerical simulation data of wave environment motion of wind power operation and maintenance vessels;

[0061] The control module is configured to execute control methods and generate adjustment commands for heading, main engine power, and loading status based on real-time data.

[0062] The actuator is used to adjust the ship's course, main engine power, and loading status according to adjustment instructions.

[0063] Furthermore, the actuators include an autopilot system, a main engine power regulator, and a ballast water control system. The autopilot system controls the ship's steering according to the heading adjustment command, the main engine power regulator adjusts the main engine output power in real time, and the ballast water control system changes the ship's center of gravity position by adjusting the ballast water distribution.

[0064] Furthermore, the control module includes a machine learning unit for optimizing the interpolation algorithm of the database based on historical motion data and improving the accuracy of motion response prediction.

[0065] In one specific embodiment, for a certain type of wind power operation and maintenance vessel, its motion response corresponds one-to-one with the wave environment. That is, under given input environmental conditions, the motion response state of the current state can be obtained through data simulation. When the vessel is close to the wind pile, its motion state is determined by the vessel configuration, weight, and center of gravity. Wave height in the work area ,cycle Ship heading Rubber pad friction coefficient Marine main engine power The determination can be expressed as the following functional relationship:

[0066] (Formula 1)

[0067] Equation 2 below is the equation of motion for a ship with six degrees of freedom, considering the ship's configuration, weight, and center of gravity. It can be decomposed into the moment of inertia of the ship about the coordinate axes as shown in Equation 2. Wave height in the work area ,cycle Marine main engine power Ship heading It can be decomposed into forces X, Y, Z in the xyz direction and torques K, M, N in Equation 2.

[0068] By solving this equation, the motion response of the wind power maintenance vessel under different loading, heading, main engine power, and wave conditions can be obtained when it is at the top and forward.

[0069] (Formula 2)

[0070] After obtaining the motion response, and setting u to 0 in Equation 2, the magnitude of the force on the maintenance vessel in the xyz direction can be deduced, which is the interaction force between the maintenance vessel and the rubber pad. By solving Equation 3, the motion response of the maintenance vessel when it is directly against the wind pile can be obtained. .

[0071] (Formula 3)

[0072] By using the above functional relationship, it is possible to determine the heading and main engine power required for the ship to maintain its motion response within the required range when it is close to the wind pile, thereby enabling maintenance personnel to complete the task of boarding the wind pile.

[0073] The control method and control system for wind turbine maintenance vessels to approach wind piles according to the present invention can establish a functional relationship between the wind and wave field, the vessel's thrust, and its motion response. In actual sea conditions, by adjusting the vessel's sailing direction, main engine power, and vessel load according to wave environment conditions, the maintenance vessel can approach the wind piles with a reasonable motion response.

[0074] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0075] The embodiments described above are merely illustrative of implementation methods of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A control method for wind turbine maintenance vessel roof-mounted pile operation, characterized in that, Includes the following steps: Step 1: Construct a numerical simulation database of wave environment motion for wind power operation and maintenance vessels. The database is generated using a high-precision CFD numerical simulation method and stores the mapping relationship of wave wavelength, wave height, vessel loading status, main engine thrust, and vessel motion response data points. Step 2: Deploy wave measuring buoys (3) near the wind piles (2) to measure wave parameters in the work area in real time, including wave height and wave period; Step 3: Based on the current loading status of the wind power maintenance vessel (1), the main engine thrust, and the wave parameters obtained by the wave measuring buoy (3), interpolate from the database to predict the motion response of the front of the wind power maintenance vessel. Step 4: Collect actual motion data through the attitude sensor on the wind power maintenance vessel (1), compare it with the prediction results of Step 3, and correct the mapping relationship of the database. Step 5: Based on the corrected motion response prediction results, and combined with the elastic coefficient and friction coefficient of the rubber pad at the bow of the wind power maintenance vessel, calculate the vessel's motion state during the head-on approach. Step 6: By dynamically adjusting the heading, main engine power and loading status of the wind power maintenance vessel (1), the motion response amplitude of the vessel is controlled within a preset range to achieve the docking operation.

2. The control method for wind turbine maintenance vessel roof-mounted pile operation as described in claim 1, characterized in that, The high-precision CFD numerical simulation method described in step one includes solving the six-degree-of-freedom motion equations of a ship; The equations decompose the ship's configuration, weight, and center of gravity into rotational inertia parameters, and decompose wave parameters, main engine power, and heading into forces and torques acting on the ship. Through numerical simulation, motion response data under different operating conditions are obtained.

3. The control method for wind turbine maintenance vessel roof-mounted pile operation as described in claim 1, characterized in that, The motion response prediction in step three includes the displacement amplitudes of the ship's sway, pitch, and heave, as well as the angular displacement amplitudes of roll, pitch, and bow.

4. The control method for wind turbine maintenance vessel roof-mounted pile operation as described in claim 1, characterized in that, The dynamic adjustment described in step six includes at least one of the following methods: Adjust the ship's course according to the wave direction so that the bow of the ship forms a preset angle with the main direction of the waves; The host power is adjusted to balance friction and impact force based on the deviation between the motion response amplitude and the preset threshold. Ship stability can be optimized by adjusting the distribution of ballast water or cargo to change the position of the center of gravity.

5. The control method for wind turbine maintenance vessel roof-mounted pile operation as described in claim 1, characterized in that, The wave-measuring buoy (3) is arranged in a fan-shaped area around the wind pile (2) to cover the direction of wave incidence during the top-mounted operation.

6. A control system for wind turbine maintenance vessel roof-mounted pile operation, characterized in that, include: Wave measuring buoy (3) is arranged around the wind pile (2) to collect wave parameters in real time; An attitude sensor is installed on the wind power maintenance vessel (1) to monitor the vessel's motion data; The database module stores numerical simulation data of wave environment motion of wind power operation and maintenance vessels; The control module is configured to execute the control method according to any one of claims 1 to 5, and generate adjustment commands for heading, main engine power and loading status based on real-time data; An actuator is used to adjust the ship's course, main engine power, and loading status according to the adjustment instructions.

7. The control system for wind turbine maintenance vessel roof-mounted pile operation as described in claim 6, characterized in that, The actuators include an autopilot system, a main engine power regulator, and a ballast water control system. The autopilot system controls the ship's steering according to the heading adjustment command. The main engine power regulator adjusts the main engine output power in real time. The ballast water control system changes the ship's center of gravity by adjusting the ballast water distribution.

8. The control system for wind turbine maintenance vessel roof-mounted pile operation as described in claim 6, characterized in that, The control module includes a machine learning unit, which is used to optimize the interpolation algorithm of the database based on historical motion data and improve the accuracy of motion response prediction.

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