Floating fan electric propulsion type single mooring control method, system and terminal

Abstract

The invention relates to a floating fan electric propulsion type single mooring control method, system and terminal, and relates to the technical field of floating fans, and the method comprises the following steps: obtaining a required mooring position point; selecting a seabed connection position point and propeller arrangement information based on the required mooring position point; connecting the seabed with a floating foundation of the floating fan by adopting a mooring line based on the seabed connecting position point, arranging an electronic propeller on the floating foundation of the floating fan based on the propeller arrangement information, and completing the construction of the floating fan; acquiring environment detection information corresponding to the required mooring position point; determining a thrust demand value according to the environment detection information; and thrust distribution control information is determined according to the thrust demand value and the propeller arrangement information, and the thrust distribution control information is output to an electronic propeller preset on the floating type foundation so as to carry out position adjustment during mooring. The method has the effect of reducing the overall construction cost of the floating fan.

Description

Technical Field

[0001] The present invention relates to the technical field of floating wind turbines, and in particular to a single-point mooring control method, system and terminal for floating wind turbines with electric propulsion. Background Art

[0002] A floating wind turbine is an offshore wind power generation device. A floating wind turbine mainly consists of a wind turbine, a nacelle, a tower and a floating foundation, etc.

[0003] Existing types of floating foundations include semi-submersible foundations, single-column foundations and tension leg foundations. Among them, the semi-submersible foundation has become the most widely used floating foundation due to its large deck area, large loading capacity and low construction difficulty. The semi-submersible foundation includes a main column at the central position, three crossbeams evenly distributed at intervals around the bottom circumference of the main column, connecting rods for connecting the main column and the crossbeams, pontoons for providing buoyancy, and mooring lines for restricting the drift range. The pontoons are installed below or around the crossbeams. The mooring lines connect one end of the crossbeam away from the main column to the seabed, and each crossbeam is connected with three mooring lines, so as to maintain the stability of the semi-submersible foundation at sea through a mechanical anchor chain structure.

[0004] When constructing the semi-submersible foundation, since each crossbeam needs to be connected with three mooring lines, it is necessary to install each mooring line to the seabed, resulting in high construction and installation difficulty, and thus high overall construction cost of the floating wind turbine. Summary of the Invention

[0005] In order to reduce the overall construction cost of the floating wind turbine, the present invention provides a single-point mooring control method, system and terminal for floating wind turbines with electric propulsion.

[0006] In the first aspect, the present invention provides a single-point mooring control method for floating wind turbines with electric propulsion, adopting the following technical solution:

[0007] A single-point mooring control method for floating wind turbines with electric propulsion includes:

[0008] Obtaining a required mooring position point;

[0009] Selecting a seabed connection position point and thruster layout information based on the required mooring position point;

[0010] Connecting the seabed and the floating foundation of the floating wind turbine with a single mooring line based on the seabed connection position point, setting electronic thrusters on the floating foundation of the floating wind turbine based on the thruster layout information, and completing the construction of the floating wind turbine;

[0011] Obtaining environmental detection information corresponding to the required mooring position point;

[0012] Determine the thrust demand value according to the environmental detection information;

[0013] Determine the thrust distribution control information according to the thrust demand value and the thruster arrangement information, and output the thrust distribution control information to the electric thrusters preset on the floating foundation for position adjustment during mooring.

[0014] Optionally, the method for determining the thrust demand value includes:

[0015] Retrieve the wind force detection information and the sea surface fluctuation information based on the environmental detection information;

[0016] Determine the wind force horizontal thrust value corresponding to the wind force detection information according to the corresponding relationship between the wind force detection information and the preset wind force horizontal thrust value;

[0017] Determine the sea wave horizontal thrust value corresponding to the sea surface fluctuation information according to the corresponding relationship between the sea surface fluctuation information and the preset sea wave horizontal thrust value;

[0018] Calculate the sum of the wind force horizontal thrust value and the sea wave horizontal thrust value as the horizontal comprehensive thrust value, and form the thrust demand value based on the horizontal comprehensive thrust value.

[0019] Optionally, it further includes steps after forming the thrust demand value based on the horizontal comprehensive thrust value, specifically as follows:

[0020] Obtain the floating body information of the floating foundation;

[0021] Retrieve the floating body stability value and the floating body anti-rolling equipment information based on the floating body information;

[0022] Determine the floating body stability influence value corresponding to the floating body stability value according to the corresponding relationship between the floating body stability value and the preset floating body stability influence value;

[0023] Retrieve the floating body anti-rolling position point and the single anti-rolling parameter value based on the floating body anti-rolling equipment information;

[0024] Determine the single anti-rolling influence value corresponding to the single anti-rolling parameter value according to the corresponding relationship between the single anti-rolling parameter value and the preset single anti-rolling influence value;

[0025] Determine the anti-rolling comprehensive influence value according to the floating body anti-rolling position point and the single anti-rolling influence value;

[0026] Calculate the sum of the anti-rolling comprehensive influence value and the floating body stability influence value as the floating body comprehensive influence value, and adjust the thrust demand value based on the floating body comprehensive influence value to form a new thrust demand value.

[0027] Optionally, the method for determining the anti-rolling comprehensive influence value includes:

[0028] Retrieve the floating body reference position point based on the floating body information;

[0029] Calculate the distance between the floating body anti-rolling position point and the floating body reference position point and use it as the anti-rolling position distance value;

[0030] According to the corresponding relationship between the anti-rolling position distance value and the preset anti-rolling distance influence value, determine the anti-rolling distance influence value corresponding to the anti-rolling position distance value;

[0031] Retrieve the sea surface fluctuation direction information based on the sea surface fluctuation information;

[0032] Based on the floating body anti-rolling position point and the floating body reference position point, determine the anti-rolling position direction information;

[0033] Analyze the deviation angle between the sea surface fluctuation direction information and the anti-rolling position direction information and use it as the anti-rolling position deviation angle value;

[0034] According to the corresponding relationship between the anti-rolling position deviation angle value and the preset anti-rolling deviation angle influence value, determine the anti-rolling deviation angle influence value corresponding to the anti-rolling position deviation angle value;

[0035] Calculate the sum value between the anti-rolling distance influence value and the anti-rolling deviation angle influence value and use it as the anti-rolling position influence value;

[0036] Calculate the sum of the product values between the anti-rolling position influence values corresponding to different floating body anti-rolling position points and the single anti-rolling influence value and use it as the anti-rolling comprehensive influence value.

[0037] Optionally, it further includes the steps after adjusting the thrust demand value based on the floating body comprehensive influence value to form a new thrust demand value, as follows:

[0038] Obtain the line body detection information of the mooring line;

[0039] Retrieve the line body tilt angle value based on the line body detection information;

[0040] Judge whether the line body tilt angle value is within the preset tilt reference angle interval;

[0041] If it is, continue to output the thrust demand value;

[0042] If it is not, calculate the difference between the line body tilt angle value and the tilt reference angle interval and use it as the tilt angle deviation value;

[0043] According to the corresponding relationship between the tilt angle deviation value and the preset tilt angle deviation influence value, determine the tilt angle deviation influence value corresponding to the tilt angle deviation value;

[0044] Adjust the thrust demand value based on the tilt angle deviation influence value to form a new thrust demand value.

[0045] Optionally, it further includes the steps after adjusting the thrust demand value based on the tilt angle deviation influence value to form a new thrust demand value, specifically as follows:

[0046] Obtain the wire body material information;

[0047] According to the correspondence between the wire body material information and the preset wire body material reference stretching value, determine the wire body material reference stretching value corresponding to the wire body material information;

[0048] Retrieve the wire body stretching detection value based on the wire body detection information;

[0049] Judge whether the wire body stretching detection value is less than the wire body material reference stretching value;

[0050] If it is yes, continue to output the thrust demand value;

[0051] If it is no, calculate the difference between the wire body stretching detection value and the wire body material reference stretching value and use it as the wire body stretching deviation value;

[0052] According to the correspondence between the wire body stretching deviation value and the preset wire body stretching deviation influence value, determine the wire body stretching deviation influence value corresponding to the wire body stretching deviation value;

[0053] Adjust the thrust demand value based on the wire body stretching deviation influence value to form a new thrust demand value.

[0054] Optionally, the method for determining the thrust distribution control information includes:

[0055] Obtain the current orientation information of the floating foundation;

[0056] Retrieve the thrust demand direction information based on the thrust demand value;

[0057] Analyze the angle deviation between the current orientation information and the thrust demand direction information and use it as the direction deviation angle value;

[0058] Retrieve the thruster position points of each thruster based on the thruster arrangement information;

[0059] Retrieve the thruster position quantity value based on the thruster position points;

[0060] Calculate the quotient of the thrust demand value and the thruster position quantity value and use it as the single thruster demand value;

[0061] Determine the thruster angle adjustment value according to the direction deviation angle value and the thruster position points;

[0062] Determine the thruster operation control information based on the individual demand value of the thruster and the thruster angle adjustment value, and use the thruster operation control information as the thrust distribution control information.

[0063] Optionally, it further includes steps after using the thruster operation control information as the thrust distribution control information, specifically as follows:

[0064] Retrieve the thruster operation information based on the thrust distribution control information;

[0065] Determine the required power value corresponding to the thrust demand value according to the correspondence between the thrust demand value and the preset required power value;

[0066] Obtain the real-time power generation value of the floating wind turbine;

[0067] Calculate the difference between the real-time power generation value and the required power value and use it as the power deviation value;

[0068] Judge whether the power deviation value is positive;

[0069] If it is, then based on the power deviation value, control the power generation system of the floating wind turbine to keep the electric thruster corresponding to the thruster operation information running and store electric energy in the energy storage system of the floating wind turbine;

[0070] If it is not, then based on the power deviation value, control the energy storage system of the floating wind turbine to discharge and jointly with the power generation system of the floating wind turbine, keep the electric thruster corresponding to the thruster operation information running.

[0071] In a second aspect, the present invention provides a floating wind turbine electric propulsion single-point mooring control system, adopting the following technical solution:

[0072] A floating wind turbine electric propulsion single-point mooring control system includes:

[0073] An acquisition module for acquiring the required mooring position point, thrust demand value, floating body information, wire detection information, wire material information, current orientation information, and real-time power generation value;

[0074] A memory for storing the program of the floating wind turbine electric propulsion single-point mooring control method as described in any item of the first aspect;

[0075] A processor for loading and executing the program in the memory.

[0076] In a third aspect, the present invention provides an intelligent terminal, adopting the following technical solution:

[0077] An intelligent terminal includes a memory and a processor, and a computer program capable of being loaded and executed by the processor is stored on the memory, which is the floating wind turbine electric propulsion single-point mooring control method as described in any item of the first aspect.

[0078] In summary, the present invention includes at least one of the following beneficial technical effects:

[0079] 1. By installing only one mooring line at the seabed connection position point and setting an electric thruster on the floating foundation of the floating wind turbine, the electric thruster is controlled to operate according to the environmental detection information for position adjustment during single mooring, thereby reducing the overall construction cost of the floating wind turbine while ensuring the mooring effect;

[0080] 2. By retrieving the wind force detection information and sea surface fluctuation information through the environmental detection information, determining the wind force horizontal thrust value by querying the wind force detection information, determining the sea wave horizontal thrust value by querying the sea surface fluctuation information, and then calculating the horizontal comprehensive thrust value as the thrust demand value, thereby improving the accuracy of the obtained thrust demand value;

[0081] 3. By obtaining the floating body information and retrieving the floating body stability value and floating body anti-rolling equipment information, then determining the floating body stability influence value by querying the floating body stability value, retrieving the floating body anti-rolling position point and single anti-rolling parameter value through the floating body anti-rolling equipment information, determining the single anti-rolling influence value by querying the single anti-rolling parameter value, determining the anti-rolling comprehensive influence value based on the floating body anti-rolling position point and the single anti-rolling influence value, calculating the floating body comprehensive influence value, and then adjusting the thrust demand value based on the floating body comprehensive influence value to form a new thrust demand value, thereby improving the accuracy of the obtained thrust demand value. Description of the Drawings

[0082] Figure 1 is the flowchart of the method for controlling the electric propulsion single mooring of the floating wind turbine according to the embodiment of the present application;

[0083] Figure 2 is the flowchart of the method for determining the thrust demand value according to the embodiment of the present application;

[0084] Figure 3 is the flowchart of the method for the steps after forming the thrust demand value based on the horizontal comprehensive thrust value according to the embodiment of the present application;

[0085] Figure 4 is the flowchart of the method for determining the anti-rolling comprehensive influence value according to the embodiment of the present application;

[0086] Figure 5 is the flowchart of the method for the steps after adjusting the thrust demand value based on the floating body comprehensive influence value to form a new thrust demand value according to the embodiment of the present application;

[0087] Figure 6 is the flowchart of the method for the steps after adjusting the thrust demand value based on the tilt angle deviation influence value to form a new thrust demand value according to the embodiment of the present application;

[0088] Figure 7 This is a flowchart of the method for determining the thrust distribution control information according to an embodiment of the present application. Detailed implementation manners

[0089] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0090] A floating wind turbine electric propulsion single-point mooring control method realizes mooring by using a single mooring line and the operation of an electric thruster, reduces the overall construction cost of the floating wind turbine, and adjusts the thrust demand value and the thrust distribution control information by obtaining the required mooring position point, the thrust demand value, the floating body information, the line detection information, the line material information, the current orientation information, and the real-time power generation value, thereby improving the accuracy during mooring.

[0091] Refer to Figure 1 , an embodiment of the present invention discloses a floating wind turbine electric propulsion single-point mooring control method, which includes:

[0092] Step S100: Obtain the required mooring position point.

[0093] The required mooring position point refers to the position point where the floating wind turbine needs to be moored, and the required mooring position point is obtained after being pre-input by an operator.

[0094] Step S101: Select the seabed connection position point and the thruster arrangement information based on the required mooring position point.

[0095] The seabed connection position point refers to the position point for connecting the floating wind turbine to the seabed, and the thruster arrangement information refers to the arrangement information for arranging the electric thrusters used to push the floating foundation of the floating wind turbine to move. The softness of the nearby seabed is retrieved through the required mooring position point, and the position suitable for fixing in the softness of the nearby seabed is used as the seabed connection position point. By obtaining the structural shape of the floating foundation and the connection position between the single mooring line and the floating foundation, different structural shapes of the floating foundation and the connection positions of the single mooring line correspond to different arrangement schemes of the electric thrusters. According to the structural shape of the floating foundation, the initial arrangement position of the electric thruster can be first selected, and then the arrangement position is adjusted through the connection position of the single mooring line, so as to obtain the final arrangement scheme and use it as the thruster arrangement information.

[0096] Specific thruster layout information and seabed connection location points can be selected and arranged by the staff, or the seabed connection location points can be selected after matching through a pre-set softness reference range of the seabed. After storing in a database that pre-sets and stores the connection positions of different floating foundation structural shapes and single-point mooring lines and the corresponding thruster layout schemes, the thruster layout information can be queried and obtained.

[0097] For example, when the structural shape of the floating foundation is triangular and the connection position of the single-point mooring line is at the center of the floating foundation, the corresponding layout scheme for the thruster layout information is to arrange the electric thrusters at the middle positions of each crossbeam of the floating foundation. When the structural shape of the floating foundation is two parallel main crossbeams, two secondary crossbeams are located between the two main crossbeams, and the two secondary crossbeams are parallel to each other and perpendicular to the main crossbeams, and the connection position of the single-point mooring line is at the center of the floating foundation, the corresponding layout scheme for the thruster layout information is to symmetrically arrange the electric thrusters on the two main crossbeams of the floating foundation, and the electric thrusters on a single main crossbeam are symmetrically arranged about the middle position of the main crossbeam. The specific number of electric thrusters on a single main crossbeam adaptively increases or decreases with the change of the length of the main crossbeam.

[0098] Step S102: Connect the seabed and the floating foundation of the floating wind turbine with a mooring line based on the seabed connection location points, set electric thrusters on the floating foundation of the floating wind turbine based on the thruster layout information, and complete the construction of the floating wind turbine.

[0099] Among them, by connecting the seabed and the main column of the floating wind turbine with a mooring line at the seabed connection location point, the construction is facilitated, and by setting the electric thrusters on the floating foundation of the floating wind turbine according to the thruster layout information, the subsequent mooring is facilitated, and the construction of the floating wind turbine is completed.

[0100] Step S103: Obtain the environmental detection information corresponding to the required mooring position point.

[0101] Among them, the environmental detection information refers to the environmental information of the required mooring position point at the current time, and the environmental detection information is obtained by detecting with a wind detection device and a buoy preset on the floating foundation.

[0102] Step S104: Determine the thrust demand value according to the environmental detection information.

[0103] Among them, the thrust demand value refers to the thrust value required to move the floating foundation of the floating wind turbine. By analyzing the environmental detection information, the thrust demand value is determined, which is convenient for subsequent use. The specific steps for determining the thrust demand value refer to Step S200 to Step S203.

[0104] Step S105: Determine thrust distribution control information according to the thrust demand value and thruster arrangement information, and output the thrust distribution control information to the electric thrusters preset on the floating foundation to adjust the position during mooring.

[0105] Among them, the thrust distribution control information refers to the control information corresponding to controlling the operation of each electric thruster arranged on the floating foundation. By analyzing the thrust demand value and thruster arrangement information, the thrust distribution control information is determined, and the thrust distribution control information is output to the electric thrusters preset on the floating foundation to adjust the position during mooring, so as to adjust the thrust demand value and the thrust distribution control information, thereby improving the accuracy during mooring. The specific steps for determining the thrust distribution control information refer to Step S700 to Step S707.

[0106] At Figure 1 In Step S104 shown, in order to further ensure the rationality of the thrust demand value, it is necessary to perform a further separate analysis and calculation on the thrust demand value. Specifically, it is elaborated in detail through the Figure 2 steps shown.

[0107] Referring to Figure 2 , the method for determining the thrust demand value includes the following steps:

[0108] Step S200: Retrieve wind force detection information and sea surface fluctuation information based on the environmental detection information.

[0109] Among them, the wind force detection information refers to the wind force magnitude and wind direction information at the required mooring position point at the current time, and the sea surface fluctuation information refers to the fluctuation direction and magnitude information of the sea surface at the required mooring position point at the current time. By retrieving the wind force detection information and sea surface fluctuation information through the environmental detection information, it is convenient for subsequent use.

[0110] Step S201: Determine the wind force horizontal thrust value corresponding to the wind force detection information according to the corresponding relationship between the wind force detection information and the preset wind force horizontal thrust value.

[0111] Among them, the wind force horizontal thrust value refers to the thrust value generated by the wind force magnitude and wind direction at the current time on the floating foundation. Different wind force detection information corresponds to different wind force horizontal thrust values. The wind force horizontal thrust value is obtained by querying from a database storing different wind force detection information and the corresponding wind force horizontal thrust values, and this database is obtained through pre-input. Determining the wind force horizontal thrust value by querying the wind force detection information is convenient for subsequent use.

[0112] Step S202: Determine the horizontal wave thrust value corresponding to the sea surface fluctuation information according to the corresponding relationship between the sea surface fluctuation information and the preset horizontal wave thrust value.

[0113] Among them, the horizontal wave thrust value refers to the thrust value generated by the direction and magnitude of the sea surface fluctuation at the current time on the floating foundation. Different sea surface fluctuation information corresponds to different horizontal wave thrust values. The horizontal wave thrust value is obtained by querying from a database storing different sea surface fluctuation information and the corresponding horizontal wave thrust values, and this database is obtained through pre-input. Querying and determining the horizontal wave thrust value through the sea surface fluctuation information facilitates subsequent use.

[0114] Step S203: Calculate the sum of the wind horizontal thrust value and the horizontal wave thrust value as the horizontal comprehensive thrust value, and form a thrust demand value based on the horizontal comprehensive thrust value.

[0115] Among them, the horizontal comprehensive thrust value refers to the thrust value that pushes the floating foundation to move in the horizontal direction. By calculating the sum of the wind horizontal thrust value and the horizontal wave thrust value as the horizontal comprehensive thrust value, and determining the thrust value in the opposite direction through the horizontal comprehensive thrust value as the thrust demand value, the accuracy of the obtained thrust demand value is improved.

[0116] After Figure 2 the step S203 shown, in order to further ensure the rationality of the thrust demand value, it is necessary to conduct a further separate analysis and calculation on the thrust demand value. Specifically, it is described in detail through Figure 3 the steps shown.

[0117] Referring to Figure 3 , the steps after forming the thrust demand value based on the horizontal comprehensive thrust value include the following steps:

[0118] Step S300: Obtain the floating body information of the floating foundation.

[0119] Among them, the floating body information refers to the stability value corresponding to the floating foundation and parameter information such as anti-rolling equipment. The floating body information is obtained through pre-input by the operator.

[0120] Step S301: Retrieve the floating body stability value and floating body anti-rolling equipment information based on the floating body information.

[0121] Among them, the floating body stability value refers to the stability value corresponding to the floating foundation, and the floating body anti-rolling equipment information refers to the position and operating parameter information corresponding to the equipment preset on the floating foundation for reducing sway. Retrieving the floating body stability value and floating body anti-rolling equipment information through the floating body information facilitates subsequent use.

[0122] Step S302: Determine the floating body stability impact value corresponding to the floating body stability value according to the correspondence between the floating body stability value and the preset floating body stability impact value.

[0123] Among them, the floating body stability impact value refers to the impact degree value of the stability value of the floating foundation itself on the thrust demand. Different floating body stability values correspond to different floating body stability impact values. The floating body stability impact value is obtained by querying from a database storing different floating body stability values and their corresponding floating body stability impact values, and this database is obtained through pre-input. Determining the floating body stability impact value by querying the floating body stability value is convenient for subsequent use.

[0124] Step S303: Retrieve the floating body anti-rolling position point and the single anti-rolling parameter value based on the floating body anti-rolling equipment information.

[0125] Among them, the floating body anti-rolling position point refers to the position point where the anti-rolling equipment is preset on the floating foundation, and the single anti-rolling parameter value refers to the parameter value that can reduce the sway when the anti-rolling equipment preset on the floating foundation operates. Retrieving the floating body anti-rolling position point and the single anti-rolling parameter value through the floating body anti-rolling equipment information is convenient for subsequent use.

[0126] Step S304: Determine the single anti-rolling impact value corresponding to the single anti-rolling parameter value according to the correspondence between the single anti-rolling parameter value and the preset single anti-rolling impact value.

[0127] Among them, the single anti-rolling impact value refers to the impact degree value of a single anti-rolling equipment on the demand thrust when it operates. Different single anti-rolling parameter values correspond to different single anti-rolling impact values. The single anti-rolling impact value is obtained by querying from a database storing different single anti-rolling parameter values and their corresponding single anti-rolling impact values, and this database is obtained through pre-input. Determining the single anti-rolling impact value by querying the single anti-rolling parameter value is convenient for subsequent use.

[0128] Step S305: Determine the comprehensive anti-rolling impact value based on the floating body anti-rolling position point and the single anti-rolling impact value.

[0129] Among them, the comprehensive anti-rolling impact value refers to the comprehensive impact degree value of the anti-rolling equipment preset on the floating foundation on the demand thrust. By analyzing the floating body anti-rolling position point and the single anti-rolling impact value, the comprehensive anti-rolling impact value is determined, which is convenient for subsequent use. The specific steps for determining the comprehensive anti-rolling impact value refer to Step S400 to Step S408.

[0130] Step S306: Calculate the sum of the comprehensive anti-rolling impact value and the floating body stability impact value as the floating body comprehensive impact value, and adjust the thrust demand value based on the floating body comprehensive impact value to form a new thrust demand value.

[0131] Among them, the comprehensive influence value of the floating body refers to the comprehensive influence degree value generated by the floating foundation itself on the required thrust. By calculating the sum value between the anti-rolling comprehensive influence value and the floating body stability influence value as the comprehensive influence value of the floating body, and then multiplying the comprehensive influence value of the floating body by the thrust demand value, and taking the product value as the new thrust demand value, the accuracy of the obtained thrust demand value can be improved.

[0132] In Figure 3 In step S305 shown, in order to further ensure the rationality of the anti-rolling comprehensive influence value, it is necessary to conduct a further separate analysis and calculation of the anti-rolling comprehensive influence value, specifically through Figure 4 the steps shown for detailed description.

[0133] Referring to Figure 4 , the method for determining the anti-rolling comprehensive influence value includes the following steps:

[0134] Step S400: Retrieve the floating body reference position point based on the floating body information.

[0135] Among them, the floating body information includes the floating body reference position point. The floating body reference position point refers to the central position point where the floating foundation itself is located. Retrieving the floating body reference position point through the floating body information facilitates subsequent use.

[0136] Step S401: Calculate the distance between the anti-rolling position point of the floating body and the floating body reference position point and take it as the anti-rolling position distance value.

[0137] Among them, the anti-rolling position distance value refers to the distance value between the anti-rolling device and the center of the floating foundation. By calculating the distance between the anti-rolling position point of the floating body and the floating body reference position point and taking it as the anti-rolling position distance value, it facilitates subsequent use.

[0138] Step S402: Determine the anti-rolling distance influence value corresponding to the anti-rolling position distance value according to the corresponding relationship between the anti-rolling position distance value and the preset anti-rolling distance influence value.

[0139] Among them, the anti-rolling distance influence value refers to the influence degree value generated by the distance between the anti-rolling device and the center of the floating foundation. Different anti-rolling position distance values correspond to different anti-rolling distance influence values. The anti-rolling distance influence value is obtained by querying from a database storing different anti-rolling position distance values and their corresponding anti-rolling distance influence values, and this database is obtained through pre-input. Determining the anti-rolling distance influence value by querying the anti-rolling position distance value facilitates subsequent use.

[0140] Step S403: Retrieve the sea surface fluctuation direction information based on the sea surface fluctuation information.

[0141] Among them, the sea surface fluctuation direction information refers to the direction information corresponding to the sea surface fluctuation. Retrieving the sea surface fluctuation direction information through the sea surface fluctuation information facilitates subsequent use.

[0142] Step S404: Determine the anti-rolling position direction information based on the anti-rolling position point of the floating body and the reference position point of the floating body.

[0143] Among them, the anti-rolling position direction information refers to the orientation information of the position where the anti-rolling device is located. Analyzing the straight-line direction formed between the anti-rolling position point of the floating body and the reference position point of the floating body and using it as the anti-rolling position direction information facilitates subsequent use.

[0144] Step S405: Analyze the deviation angle between the sea surface fluctuation direction information and the anti-rolling position direction information and use it as the anti-rolling position deviation angle value.

[0145] Among them, the anti-rolling position deviation angle value refers to the angle deviation value when there is a deviation in the orientation of the position where the anti-rolling device is located. Analyzing the deviation angle between the sea surface fluctuation direction information and the anti-rolling position direction information and using it as the anti-rolling position deviation angle value facilitates subsequent use.

[0146] Step S406: Determine the anti-rolling deviation angle influence value corresponding to the anti-rolling position deviation angle value according to the corresponding relationship between the anti-rolling position deviation angle value and the preset anti-rolling deviation angle influence value.

[0147] Among them, the anti-rolling deviation angle influence value refers to the influence degree value generated by the deviation angle of the orientation of the position where the anti-rolling device is located. Different anti-rolling position deviation angle values correspond to different anti-rolling deviation angle influence values. The anti-rolling deviation angle influence value is obtained by querying from a database storing different anti-rolling position deviation angle values and the corresponding anti-rolling deviation angle influence values, and this database is obtained through pre-input. Determining the anti-rolling deviation angle influence value by querying the anti-rolling position deviation angle value facilitates subsequent use.

[0148] Step S407: Calculate the sum value between the anti-rolling distance influence value and the anti-rolling deviation angle influence value and use it as the anti-rolling position influence value.

[0149] Among them, the anti-rolling position influence value refers to the comprehensive influence degree value generated by the position where the anti-rolling device is located. Calculating the sum value between the anti-rolling distance influence value and the anti-rolling deviation angle influence value and using it as the anti-rolling position influence value facilitates subsequent use.

[0150] Step S408: Calculate the sum of the product values between the anti-rolling position influence values corresponding to different anti-rolling position points of the floating body and a single anti-rolling influence value and use it as the anti-rolling comprehensive influence value.

[0151] Among them, the comprehensive anti-rolling influence value refers to the comprehensive influence degree value generated by all anti-rolling devices preset on the floating foundation. By calculating the product value between the anti-rolling position influence value corresponding to different anti-rolling position points of the floating body and the single anti-rolling influence value, and then summing up each calculated product value, the sum value is used as the comprehensive anti-rolling influence value, so as to improve the accuracy of the obtained comprehensive anti-rolling influence value.

[0152] After Figure 3 the step S306 shown, in order to further ensure the rationality of the thrust demand value, it is necessary to perform a further separate analysis and calculation on the thrust demand value. Specifically, it is described in detail through Figure 5 the steps shown.

[0153] Referring to Figure 5 , the steps after adjusting the thrust demand value based on the comprehensive influence value of the floating body to form a new thrust demand value include the following steps:

[0154] Step S500: Obtain the line detection information of the mooring line.

[0155] Among them, the line detection information refers to the detection information for detecting the tensile force and inclination angle of the mooring line. The line detection information is obtained after being detected by the tensile force sensor and the angle sensor preset on the floating foundation.

[0156] Step S501: Retrieve the line inclination angle value based on the line detection information.

[0157] Among them, the line inclination angle value refers to the inclination angle value corresponding to the mooring line at the current time. Retrieving the line inclination angle value through the line detection information facilitates subsequent use.

[0158] Step S502: Determine whether the line inclination angle value is within the preset inclination reference angle range. If yes, execute step S503; if not, execute step S504.

[0159] Among them, the inclination reference angle range refers to the reference angle range corresponding to the inclination of the mooring line during normal mooring of the floating foundation. The inclination reference angle range is obtained through pre-input. By judging whether the line inclination angle value is within the preset inclination reference angle range, it is thus judged whether the mooring line has an abnormal inclination.

[0160] Step S503: Continue to output the thrust demand value.

[0161] Among them, when the line inclination angle value is within the preset inclination reference angle range, it indicates that the mooring line does not have an abnormal inclination at this time, so the thrust demand value is continued to be output.

[0162] Step S504: Calculate the difference between the line body tilt angle value and the tilt reference angle range and use it as the tilt angle deviation value.

[0163] Among them, the tilt angle deviation value refers to the deviation angle value corresponding to the abnormal tilt of the mooring line. When the line body tilt angle value is not within the preset tilt reference angle range, it indicates that the mooring line is tilted abnormally at this time. Therefore, calculate the difference between the line body tilt angle value and the tilt reference angle range and use it as the tilt angle deviation value for subsequent use.

[0164] Step S505: Determine the tilt angle deviation impact value corresponding to the tilt angle deviation value according to the correspondence between the tilt angle deviation value and the preset tilt angle deviation impact value.

[0165] Among them, the tilt angle deviation impact value refers to the impact degree value generated when the mooring line is tilted abnormally. Different tilt angle deviation values correspond to different tilt angle deviation impact values. The tilt angle deviation impact value is obtained by querying from a database storing different tilt angle deviation values and the corresponding tilt angle deviation impact values, and this database is obtained through pre-input. Determining the tilt angle deviation impact value by querying the tilt angle deviation value is convenient for subsequent use.

[0166] Step S506: Adjust the thrust demand value based on the tilt angle deviation impact value to form a new thrust demand value.

[0167] Among them, calculate the product of the thrust demand value by the tilt angle deviation impact value, and use the product value as the new thrust demand value, thereby improving the accuracy of the obtained thrust demand value.

[0168] After Figure 3 the steps shown in Step S506, in order to further ensure the rationality of the thrust demand value, it is necessary to perform a further separate analysis and calculation on the thrust demand value, specifically through Figure 6 the steps shown for detailed description.

[0169] Referring to Figure 6 , the steps after adjusting the thrust demand value based on the tilt angle deviation impact value to form a new thrust demand value include the following steps:

[0170] Step S600: Obtain the line body material information.

[0171] Among them, the line body material information refers to the material information corresponding to the mooring line, and the line body material information is obtained through pre-input.

[0172] Step S601: Determine the line body material reference tensile value corresponding to the line body material information according to the correspondence between the line body material information and the preset line body material reference tensile value.

[0173] Among them, the reference tensile value of the line body material refers to the reference tensile value that the material corresponding to the mooring line can withstand during normal use. Different line body material information corresponds to different reference tensile values of the line body material. The reference tensile value of the line body material is obtained by querying from a database storing different line body material information and the corresponding reference tensile values of the line body material, and this database is obtained through pre-input. Querying and determining the reference tensile value of the line body material through the line body material information is convenient for subsequent use.

[0174] Step S602: Retrieve the line body tensile detection value based on the line body detection information.

[0175] Among them, the line body tensile detection value refers to the tensile detection value corresponding to the mooring line at the current time. Retrieving the line body tensile detection value through the line body detection information is convenient for subsequent use.

[0176] Step S603: Determine whether the line body tensile detection value is less than the reference tensile value of the line body material. If yes, execute step S604; if not, execute step S605.

[0177] Among them, by judging whether the line body tensile detection value is less than the reference tensile value of the line body material, it is possible to judge whether there is abnormal stretching of the mooring line at the current time.

[0178] Step S604: Continue to output the thrust demand value.

[0179] Among them, when the line body tensile detection value is less than the reference tensile value of the line body material, it indicates that there is no abnormal stretching of the mooring line at this time, so the thrust demand value is continued to be output.

[0180] Step S605: Calculate the difference between the line body tensile detection value and the reference tensile value of the line body material and use it as the line body tensile deviation value.

[0181] Among them, the line body tensile deviation value refers to the deviation value when there is a deviation in the tensile force of the mooring line at the current time. When the line body tensile detection value is not less than the reference tensile value of the line body material, it indicates that there is abnormal stretching of the mooring line at this time. Therefore, the difference between the line body tensile detection value and the reference tensile value of the line body material is calculated and used as the line body tensile deviation value for subsequent use.

[0182] Step S606: Determine the line body tensile deviation influence value corresponding to the line body tensile deviation value according to the corresponding relationship between the line body tensile deviation value and the preset line body tensile deviation influence value.

[0183] Among them, the influence value of the mooring line stretching deviation refers to the influence degree value generated when there is abnormal stretching of the mooring line. Different mooring line stretching deviation values correspond to different influence values of the mooring line stretching deviation. The influence value of the mooring line stretching deviation is obtained by querying from a database that stores different mooring line stretching deviation values and their corresponding influence values of the mooring line stretching deviation. This database is obtained through pre-input. Determining the influence value of the mooring line stretching deviation through the mooring line stretching deviation value is convenient for subsequent use.

[0184] Step S607: Adjust the thrust demand value based on the influence value of the mooring line stretching deviation to form a new thrust demand value.

[0185] Among them, the thrust demand value is calculated by multiplying with the influence value of the mooring line stretching deviation, and the product value is used as the new thrust demand value, thereby improving the accuracy of the obtained thrust demand value.

[0186] In Figure 1 In step S105 shown, in order to further ensure the rationality of the thrust distribution control information, it is necessary to perform a further separate analysis and calculation on the thrust distribution control information. Specifically, it is described in detail through the Figure 7 steps shown.

[0187] Referring to Figure 7 , the method for determining the thrust distribution control information includes the following steps:

[0188] Step S700: Obtain the current orientation information of the floating foundation.

[0189] Among them, the current orientation information refers to the orientation information of the floating foundation at the current time. The current orientation information is obtained by detecting through an electronic compass preset on the floating foundation.

[0190] Step S701: Retrieve the thrust demand direction information based on the thrust demand value.

[0191] Among them, the thrust demand direction information refers to the direction information required to push the floating foundation to move. By retrieving the direction corresponding to the thrust demand value and using it as the thrust demand direction information, it is convenient for subsequent use.

[0192] Step S702: Analyze the angular deviation between the current orientation information and the thrust demand direction information and use it as the direction deviation angle value.

[0193] Among them, the direction deviation angle value refers to the angular deviation value when the orientation of the floating foundation has a deviation at the current time. By analyzing the angular deviation between the current orientation information and the thrust demand direction information and using it as the direction deviation angle value, it is convenient for subsequent use.

[0194] Step S703: Retrieve the thruster position points of each thruster based on the thruster arrangement information.

[0195] Among them, the thruster position point refers to the position point where the electric thruster preset on the floating foundation is located. Retrieving the thruster position points of each electric thruster through the thruster arrangement information facilitates subsequent use.

[0196] Step S704: Retrieve the thruster position quantity value based on the thruster position points.

[0197] Among them, the thruster position quantity value refers to the quantity value of the electric thrusters preset on the floating foundation. By counting the number corresponding to the thruster position points and taking the counting result value as the thruster position quantity value, it facilitates subsequent use.

[0198] Step S705: Calculate the quotient between the thrust demand value and the thruster position quantity value and use it as the single thruster demand value.

[0199] Among them, the single thruster demand value refers to the thrust value that a single electric thruster needs to provide. By calculating the quotient between the thrust demand value and the thruster position quantity value and using it as the single thruster demand value, it facilitates subsequent use.

[0200] Step S706: Determine the thruster angle adjustment value based on the direction deviation angle value and the thruster position points.

[0201] Among them, the thruster angle adjustment value refers to the adjustment value for adjusting the angle when a single electric thruster operates. By analyzing the straight-line direction between the thruster position point and the floating body reference position point as the thruster direction information, analyzing the deviation angle between the current orientation information and the thruster direction information as the thruster deviation angle value, and then calculating the sum value between the thruster deviation angle value and the direction deviation angle value as the thruster angle adjustment value, it thus facilitates subsequent use.

[0202] Step S707: Determine the thruster operation control information based on the single thruster demand value and the thruster angle adjustment value, and use the thruster operation control information as the thrust distribution control information.

[0203] Among them, the thruster operation control information refers to the control information used to control the operation of the electric thruster. According to the corresponding relationship between the single demand value of the thruster and the preset single operation power value of the thruster, the single operation power value of the thruster corresponding to the single demand value is determined, and the single operation power value of the thruster is combined with the thruster angle adjustment value as the thruster operation control information, and the thruster operation control information is used as the thrust distribution control information, thereby improving the accuracy of the obtained thrust distribution control information. Different single demand values correspond to different single operation power values of the thruster. The single operation power value of the thruster is obtained by querying from a database storing different single demand values and the corresponding single operation power values of the thruster, and this database is obtained through pre-input.

[0204] After Figure 7 the step S707 shown, in order to further ensure the rationality of the thrust distribution control information, it is necessary to perform a further separate analysis and calculation on the thrust distribution control information, which is specifically described in detail through the following steps.

[0205] The steps after using the thruster operation control information as the thrust distribution control information include the following steps:

[0206] Step S800: Retrieve the operating thruster information based on the thrust distribution control information.

[0207] Among them, the operating thruster information refers to the information of the thruster that needs to be operated. Retrieving the operating thruster information through the thrust distribution control information facilitates subsequent use.

[0208] Step S801: Determine the required power value corresponding to the thrust demand value according to the corresponding relationship between the thrust demand value and the preset required power value.

[0209] Among them, the required power value refers to the power value consumed when providing the thrust demand value. Different thrust demand values correspond to different required power values. The required power value is obtained by querying from a database storing different thrust demand values and the corresponding required power values, and this database is obtained through pre-input. Querying and determining the required power value through the thrust demand value facilitates subsequent use.

[0210] Step S802: Obtain the real-time power generation value of the floating wind turbine.

[0211] Among them, the real-time power generation value refers to the power value corresponding to the current time when the floating wind turbine generates electricity. The real-time power generation value is obtained by detecting through a power detection device preset on the floating wind turbine. The power detection device can be an electric meter.

[0212] Step S803: Calculate the difference between the real-time power generation value and the required power value and use it as the power deviation value.

[0213] Among them, the power deviation value refers to the deviation value when there is a deviation in the power generation amount. By calculating the difference between the real-time power generation value and the required power amount and using it as the power deviation value, it is convenient for subsequent use.

[0214] Step S804: Determine whether the power deviation value is positive. If it is, execute step S805; if not, execute step S806.

[0215] Among them, by judging whether the power deviation value is positive, it is thus judged whether the power generation amount is sufficient.

[0216] Step S805: Based on the power deviation value, control the power generation system of the floating wind turbine to keep the electric thruster corresponding to the operation thruster information running and store electric energy in the energy storage system of the floating wind turbine.

[0217] Among them, the power generation energy storage control information refers to the control information for controlling the storage of the generated power. The power generation system refers to the system used for power generation in the floating wind turbine. The power generation system is preset above the floating foundation, that is, it includes devices such as the blades and motors of the floating wind turbine. The energy storage system refers to the system used for storing power in the floating wind turbine. The energy storage system is preset in the crossbeam of the floating foundation, and the energy storage system can be a battery. The power generation system, the energy storage system, and the electric thruster corresponding to the operation thruster information are electrically connected to each other. When the power deviation value is positive, it indicates that the power generation amount is sufficient at this time. Therefore, based on the power deviation value, control the power generation system of the floating wind turbine to keep the electric thruster corresponding to the operation thruster information running and store electric energy in the energy storage system of the floating wind turbine, so as to input the power generation amount corresponding to the power generation system into the energy storage system and the electric thruster corresponding to the operation thruster information respectively, so as to store the excess power while ensuring the operation of the electric thruster.

[0218] Step S806: Based on the power deviation value, control the energy storage system of the floating wind turbine to discharge and jointly with the power generation system of the floating wind turbine keep the electric thruster corresponding to the operation thruster information running.

[0219] Among them, the energy storage discharge control information refers to the control information for controlling the energy storage system to discharge. When the power deviation value is not positive, it indicates that the power generation amount is not sufficient at this time. Therefore, based on the power deviation value, control the energy storage system of the floating wind turbine to discharge and jointly with the power generation system of the floating wind turbine keep the electric thruster corresponding to the operation thruster information running, so as to input the power generation amount corresponding to the power generation system and the power amount corresponding to the power deviation value stored in the energy storage system into the electric thruster corresponding to the operation thruster information at the same time, so as to ensure the operation of the thruster.

[0220] Based on the same inventive concept, an embodiment of the present invention provides a floating wind turbine electric propulsion single-point mooring control system, including:

[0221] An acquisition module, configured to acquire a required mooring position point, a thrust requirement value, floating body information, wire detection information, wire material information, current orientation information, and real-time power generation value;

[0222] A memory, configured to store a program of the floating wind turbine electric propulsion single-point mooring control method as described above;

[0223] A processor, configured to load and execute the program in the memory.

[0224] Based on the same inventive concept, an embodiment of the present invention provides an intelligent terminal, including a memory and a processor, and a computer program capable of being loaded and executed by the processor is stored on the memory, and the computer program is the floating wind turbine electric propulsion single-point mooring control method as described above.

[0225] Those skilled in the art can clearly understand that for the convenience and brevity of description, only the above division of each functional module is used as an example. In actual applications, the above functions can be allocated to different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working processes of the systems, devices, and units described above can refer to the corresponding processes in the foregoing method embodiments, and will not be described in detail here.

[0226] The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions falling within the inventive concept of the present invention belong to the protection scope of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. A control method for a floating wind turbine's electric propulsion single-point mooring, characterized in that, Including: Obtain the required mooring position points; Based on the required mooring position points, select the seabed connection position points and thruster arrangement information; Connect the seabed to the floating foundation of the floating wind turbine with a mooring line based on the seabed connection position points, set electronic thrusters on the floating foundation of the floating wind turbine based on the thruster arrangement information, and complete the construction of the floating wind turbine; Obtain the environmental detection information corresponding to the required mooring position points; Determine the thrust demand value according to the environmental detection information; Determine the thrust distribution control information according to the thrust demand value and the thruster arrangement information, and output the thrust distribution control information to the electronic thrusters preset on the floating foundation for position adjustment during mooring.

2. The floating wind turbine electric propulsion single-point mooring control method according to claim 1, wherein The method for determining the thrust demand value includes: Retrieve the wind force detection information and sea surface fluctuation information based on the environmental detection information; Determine the wind force horizontal thrust value corresponding to the wind force detection information according to the corresponding relationship between the wind force detection information and the preset wind force horizontal thrust value; Determine the sea wave horizontal thrust value corresponding to the sea surface fluctuation information according to the corresponding relationship between the sea surface fluctuation information and the preset sea wave horizontal thrust value; Calculate the sum of the wind force horizontal thrust value and the sea wave horizontal thrust value as the horizontal comprehensive thrust value, and form the thrust demand value based on the horizontal comprehensive thrust value.

3. The floating wind turbine electric propulsion single-point mooring control method according to claim 2, wherein It also includes the steps after forming the thrust demand value based on the horizontal comprehensive thrust value, specifically as follows: Obtain the floating body information of the floating foundation; Retrieve the floating body stability value and floating body anti-rolling equipment information based on the floating body information; Determine the floating body stability influence value corresponding to the floating body stability value according to the corresponding relationship between the floating body stability value and the preset floating body stability influence value; Retrieve the floating body anti-rolling position points and single anti-rolling parameter values based on the floating body anti-rolling equipment information; Determine the single anti-rolling influence value corresponding to the single anti-rolling parameter value according to the corresponding relationship between the single anti-rolling parameter value and the preset single anti-rolling influence value; Determine the anti-rolling comprehensive influence value according to the floating body anti-rolling position points and the single anti-rolling influence value; Calculate the sum of the anti-rolling comprehensive influence value and the floating body stability influence value as the floating body comprehensive influence value, and adjust the thrust demand value based on the floating body comprehensive influence value to form a new thrust demand value.

4. The floating wind turbine power propulsion single-point mooring control method according to claim 3, wherein The method for determining the anti-rolling comprehensive influence value includes: Retrieve the floating body reference position points based on the floating body information; Calculate the distance between the floating body anti-rolling position points and the floating body reference position points as the anti-rolling position distance value; Determine the anti-rolling distance influence value corresponding to the anti-rolling position distance value according to the corresponding relationship between the anti-rolling position distance value and the preset anti-rolling distance influence value; Retrieve the sea surface fluctuation direction information based on the sea surface fluctuation information; Determine the anti-rolling position direction information based on the floating body anti-rolling position points and the floating body reference position points; Analyze the deviation angle between the sea surface fluctuation direction information and the anti-rolling position direction information as the anti-rolling position deviation angle value; Determine the anti-rolling deviation angle influence value corresponding to the anti-rolling position deviation angle value according to the corresponding relationship between the anti-rolling position deviation angle value and the preset anti-rolling deviation angle influence value; Calculate the sum of the anti-rolling distance influence value and the anti-rolling deviation angle influence value as the anti-rolling position influence value; Calculate the sum of the product values between the anti-rolling position influence values corresponding to different anti-rolling position points of the floating body and the single anti-rolling influence value, and use it as the comprehensive anti-rolling influence value.

5. The floating wind turbine electric propulsion single-point mooring control method according to claim 4, characterized in that, It also includes the steps after adjusting the thrust demand value based on the comprehensive influence value of the floating body to form a new thrust demand value, specifically as follows: Obtain the line body detection information of the mooring line; Retrieve the line body tilt angle value based on the line body detection information; Judge whether the line body tilt angle value is within the preset tilt reference angle range; If it is, continue to output the thrust demand value; If not, calculate the difference between the line body tilt angle value and the tilt reference angle range and use it as the tilt angle deviation value; According to the corresponding relationship between the tilt angle deviation value and the preset tilt angle deviation influence value, determine the tilt angle deviation influence value corresponding to the tilt angle deviation value; Adjust the thrust demand value based on the tilt angle deviation influence value to form a new thrust demand value.

6. The floating wind turbine electric propulsion single-point mooring control method according to claim 5, wherein, It also includes the steps after adjusting the thrust demand value based on the tilt angle deviation influence value to form a new thrust demand value, specifically as follows: Obtain the line body material information; According to the corresponding relationship between the line body material information and the preset line body material reference tensile value, determine the line body material reference tensile value corresponding to the line body material information; Retrieve the line body tensile detection value based on the line body detection information; Judge whether the line body tensile detection value is less than the line body material reference tensile value; If it is, continue to output the thrust demand value; If not, calculate the difference between the line body tensile detection value and the line body material reference tensile value and use it as the line body tensile deviation value; According to the corresponding relationship between the line body tensile deviation value and the preset line body tensile deviation influence value, determine the line body tensile deviation influence value corresponding to the line body tensile deviation value; Adjust the thrust demand value based on the line body tensile deviation influence value to form a new thrust demand value.

7. The floating wind turbine power propulsion single-point mooring control method according to claim 4, characterized in that, The method for determining the thrust distribution control information includes: Obtain the current orientation information of the floating foundation; Retrieve the thrust demand direction information based on the thrust demand value; Analyze the angular deviation between the current orientation information and the thrust demand direction information and use it as the direction deviation angle value; Retrieve the thruster position points of each thruster based on the thruster arrangement information; Retrieve the thruster position quantity value based on the thruster position points; Calculate the quotient value between the thrust demand value and the thruster position quantity value and use it as the single thruster demand value; Determine the thruster angle adjustment value according to the direction deviation angle value and the thruster position points; Determine the thruster operation control information according to the single thruster demand value and the thruster angle adjustment value, and use the thruster operation control information as the thrust distribution control information.

8. The floating wind turbine electric propulsion single-point mooring control method according to claim 7, characterized in that It also includes the steps after using the thruster operation control information as the thrust distribution control information, specifically as follows: Retrieve the operating thruster information based on the thrust distribution control information; According to the corresponding relationship between the thrust demand value and the preset demand power value, determine the demand power value corresponding to the thrust demand value; Obtain the real-time power generation value of the floating wind turbine; Calculate the difference between the real-time power generation value and the demand power value and use it as the power deviation value; Judge whether the power deviation value is positive; If it is yes, based on the power deviation value, control the power generation system of the floating wind turbine to keep the electric thruster corresponding to the operation thruster information running and store electric energy in the energy storage system of the floating wind turbine; If it is no, based on the power deviation value, control the energy storage system of the floating wind turbine to discharge and jointly with the power generation system of the floating wind turbine, keep the electric thruster corresponding to the operation thruster information running.

9. A floating wind turbine electric propulsion single-point mooring control system, characterized in that, It includes: An acquisition module, configured to acquire the required mooring position point, thrust demand value, floating body information, wire detection information, wire material information, current orientation information, and real-time power generation value; A memory, configured to store the program of the floating wind turbine electric propulsion single mooring control method according to any one of claims 1 to 8; A processor, configured to load and execute the program in the memory.

10. An intelligent terminal, characterized in that, It includes a memory and a processor, and a computer program capable of being loaded and executed by the processor is stored on the memory, which is the floating wind turbine electric propulsion single mooring control method according to any one of claims 1 to 8.

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