Real-time dynamic compensation offshore wind power installation vessel positioning and control method and system

Abstract

The invention provides a real-time dynamic compensation offshore wind power installation vessel positioning and control method and system, and the method comprises the steps: collecting environment parameters, including wind speed, wave height and flow velocity, synchronously obtained by a multi-source sensing device, carrying out the data fusion processing of the environment parameters, and obtaining a comprehensive interference vector; constructing a dynamic compensation model according to the comprehensive interference vector, and fitting parameters of the dynamic compensation model by using a least square method to obtain an optimal compensation coefficient; inputting the optimal compensation coefficient into an adaptive filtering algorithm, and calculating a real-time dynamic compensation amount; adjusting the output power of a propeller of the installation ship according to the real-time dynamic compensation amount, and generating a compensation control instruction; and the compensation control instruction is sent to a propeller control system, and dynamic compensation is achieved. Dynamic interference under complex sea conditions can be effectively dealt with, the operation efficiency and safety of the installation ship are improved, and powerful technical support is provided for offshore wind power installation.

Description

Technical Field

[0001] The present invention relates to the field of offshore wind farms, and in particular to a real-time dynamic compensation offshore wind power installation vessel positioning and control method and system. Background Art

[0002] With the rapid development of the offshore wind power industry, offshore wind turbine installation vessels are playing an increasingly prominent role in the installation of wind turbine foundations and equipment. However, the complex and volatile offshore environment, coupled with dynamic factors such as wind, waves, and currents, poses significant challenges to the positioning and control of installation vessels. Traditional positioning and control methods lack high-precision positioning and real-time dynamic compensation, resulting in low installation efficiency and poor operational safety, making them unable to meet the demands of modern offshore wind power installation.

[0003] Patent publication number CN110217346B proposes a method for towing offshore wind turbine installation vessels using a multi-point mooring positioning system. This method achieves vessel transfer operations by adjusting the mooring distance between anchor lines. However, this technical solution primarily relies on the static positioning of the mooring system, lacking the ability to rapidly respond to real-time dynamic conditions (such as wind, wave, and current fluctuations), and is unable to effectively address the precise positioning requirements in complex sea conditions. Furthermore, the operation of the mooring system is complex and time-consuming, potentially compromising operational efficiency and safety in emergency situations.

[0004] Another existing technology, patented with publication number CN104499484B, designs a positioning device for offshore wind power foundation installation, which uses a mechanical structure to achieve the installation and positioning of single or triple pile foundations. Although this technology can adapt to the installation of foundations of various sizes and has a certain degree of flexibility, its positioning accuracy is highly dependent on the rigidity and stability of the mechanical structure. It is easily affected by external interference under dynamic sea conditions, resulting in positioning deviations. At the same time, the device does not incorporate real-time dynamic compensation functions and cannot actively respond to changes in external dynamic factors such as wind, waves and currents, limiting its application effect in complex marine environments.

[0005] These issues demonstrate that existing offshore wind turbine installation vessel positioning and control technologies still have significant deficiencies in real-time dynamic compensation, precise positioning, and the ability to cope with complex sea conditions. Therefore, a positioning and control system incorporating real-time dynamic compensation mechanisms is urgently needed to improve the positioning accuracy and operational efficiency of installation vessels in complex sea conditions, while also streamlining operational processes and enhancing operational safety, thereby meeting the efficient and precise requirements of modern offshore wind turbine installation. Summary of the Invention

[0006] The present invention provides a real-time dynamic compensation method for positioning and controlling an offshore wind power installation vessel to improve the above-mentioned problem.

[0007] The present invention provides a real-time dynamic compensation method for positioning and controlling an offshore wind power installation vessel, the method comprising: collecting environmental parameters, including wind speed, wave height, and flow velocity, obtained synchronously by multi-source sensing devices, performing data fusion processing on the environmental parameters, and obtaining a comprehensive interference vector; constructing a dynamic compensation model based on the comprehensive interference vector, fitting the parameters of the dynamic compensation model using the least squares method, and obtaining an optimal compensation coefficient; inputting the optimal compensation coefficient into an adaptive filtering algorithm to calculate a real-time dynamic compensation amount; adjusting the propeller output power of the installation vessel based on the real-time dynamic compensation amount, generating a compensation control instruction, and sending the compensation control instruction to the propeller control system to achieve dynamic compensation.

[0008] Preferably, it also includes: The interference threshold is calculated based on the maximum interference component in the integrated interference vector; The number of components in the comprehensive interference vector that are greater than the interference threshold is obtained, and the order of the dynamic compensation model is adjusted according to the number of components.

[0009] Preferably, it also includes: The real-time dynamic compensation is decomposed into horizontal and vertical components, and the lateral and longitudinal output power of the thruster are adjusted respectively. The compensation control instructions are obtained as follows: in, and are the transverse and longitudinal thruster output powers, K p is the proportional gain, K d is the differential gain, Δx and Δy are the compensation amounts in the horizontal and vertical directions respectively. and are their rates of change respectively.

[0010] Preferably, it also includes: After adjusting the thruster output power according to the real-time dynamic compensation amount, the compensation control instruction is generated as follows:

[0011] Among them, U(k) is the thruster output power at the kth moment, U0 is the initial output power, and ΔU(k) ​​is the real-time dynamic compensation.

[0012] Preferably, the step size factor of the adaptive filtering algorithm is: Where γ is a fixed gain, is the norm of the input signal, is the regularization parameter.

[0013] Preferably, it also includes: After adjusting the thruster output power according to the real-time dynamic compensation amount, the compensation control instruction is generated as follows:

[0014] Among them, ΔU(k) ​​is the real-time dynamic compensation amount, α is the proportional coefficient, β is the integral coefficient, and ΔX(k) is the change of the comprehensive interference vector.

[0015] Preferably, the system comprises: The data fusion module is used to collect environmental parameters obtained synchronously by multi-source sensing devices, perform data fusion processing on the environmental parameters, and obtain a comprehensive interference vector; The dynamic compensation module is used to construct a dynamic compensation model based on the comprehensive interference vector and use the least squares method to fit the parameters of the dynamic compensation model to obtain the optimal compensation coefficient; Adaptive filtering module, used to input the optimal compensation coefficient into the adaptive filtering algorithm to calculate the real-time dynamic compensation amount; The thruster control module is used to adjust the thruster output power of the installation vessel according to the real-time dynamic compensation amount, generate compensation control instructions, and send the compensation control instructions to the thruster control system to achieve dynamic compensation.

[0016] Preferably, the data fusion module is further used for: The interference threshold is calculated based on the maximum interference component in the integrated interference vector; The number of components in the comprehensive interference vector that are greater than the interference threshold is obtained, and the order of the dynamic compensation model is adjusted according to the number of components.

[0017] Preferably, the thruster control module is further configured to: The real-time dynamic compensation is decomposed into horizontal and vertical components, and the lateral and longitudinal output power of the thruster are adjusted respectively. The compensation control instructions are obtained as follows: in, and are the transverse and longitudinal thruster output powers, K p is the proportional gain, K d is the differential gain, Δx and Δy are the compensation amounts in the horizontal and vertical directions respectively. and are their rates of change respectively.

[0018] Preferably, the thruster control module is further configured to: After adjusting the thruster output power according to the real-time dynamic compensation amount, the compensation control instruction is generated as follows:

[0019] Among them, ΔU(k) ​​is the real-time dynamic compensation amount, α is the proportional coefficient, β is the integral coefficient, and ΔX(k) is the change of the comprehensive interference vector.

[0020] The above-mentioned real-time dynamic compensation navigation and control method and system for offshore wind power installation vessels, through multi-source perception data fusion technology, can comprehensively capture external interference information such as wind, waves and currents, providing precise input for dynamic compensation. By constructing a dynamic compensation model and combining it with an adaptive filtering algorithm, it can adjust the compensation strategy in real time, significantly improving the positioning accuracy and stability of the installation vessel in complex sea conditions. Through precise control of the propeller output power, it can achieve independent compensation in the horizontal and vertical directions, ensuring the safety and efficiency of the installation operation. The present invention can effectively cope with dynamic interference in complex sea conditions, improve the operating efficiency and safety of the installation vessel, and provide strong technical support for offshore wind power installation. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 1 is a flow chart of a method for positioning and controlling an offshore wind power installation vessel with real-time dynamic compensation provided by a first embodiment of the present invention; Figure 2 It is a structural diagram of a real-time dynamic compensation offshore wind power installation vessel positioning and control system provided by the second embodiment of the present invention. DETAILED DESCRIPTION

[0022] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0023] In order to better understand the technical solution of the present invention, the embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0024] It should be understood that the embodiments described are only a portion of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative work are within the scope of protection of the present invention.

[0025] The terms used in the embodiments of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The singular forms "a", "an", "the" and "the" used in the embodiments of the present invention and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise.

[0026] It should be understood that the term "and / or" as used herein is merely a description of the relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, or B exists alone. Furthermore, the character " / " in this document generally indicates that the associated objects are in an "or" relationship.

[0027] The word "if," as used herein, may be interpreted as "at the time of" or "when" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrases "if it is determined" or "if (stated condition or event) is detected" may be interpreted as "when it is determined" or "in response to the determination" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)," depending on the context.

[0028] The "first" and "second" mentioned in the embodiments are merely used to distinguish similar objects and do not represent a specific ordering of the objects. It is understood that the specific order or precedence of "first" and "second" can be interchanged where appropriate. It should be understood that the objects distinguished by "first" and "second" can be interchanged where appropriate, so that the embodiments described herein can be implemented in an order other than that illustrated or described herein.

[0029] The specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0030] Multiple embodiments of the present invention provide a real-time dynamic compensation navigation and control method and system for offshore wind power installation vessels. The core of the method and system lies in achieving real-time monitoring and dynamic compensation of external interference such as wind, waves and currents under complex sea conditions through the introduction of multi-source perception data fusion technology, dynamic compensation model construction and adaptive filtering algorithm.

[0031] In practical applications, this invention is primarily applicable to offshore wind turbine installation vessel operations, particularly in complex sea conditions characterized by high wind speeds, large waves, or rapid currents. To ensure the efficient and safe installation of wind turbine foundations and equipment by these vessels, this invention proposes a comprehensive navigation and control system, encompassing data acquisition, data processing, dynamic compensation model construction, adaptive filtering algorithm calculation, and thruster output power adjustment. Each step will be described below.

[0032] See also Figure 1 The first embodiment of the present invention provides a real-time dynamic compensation method for positioning and controlling an offshore wind power installation vessel, which includes the following steps: S101, collect environmental parameters obtained synchronously by multi-source sensing devices, including wind speed, wave height and flow rate, perform data fusion processing on the environmental parameters, and obtain a comprehensive interference vector In this embodiment, the offshore wind power installation vessel is equipped with multi-source sensing equipment, including but not limited to anemometers, wave height meters, flow rate sensors and other environmental parameter monitoring devices. These devices synchronously collect environmental parameters, such as real-time wind speed, wave height and flow rate information, and transmit the collected data to the data fusion module. The core function of the data fusion module is to pre-process and fuse these multi-source sensing data to generate a comprehensive interference vector. The comprehensive interference vector is a multi-dimensional vector whose dimensions correspond to different types of environmental interference factors, such as wind speed, wave height and flow rate, each as a component of the vector. The weighted average method or other data fusion algorithms are used in the data fusion processing process to ensure that the weight of each component matches the degree of its influence on the positioning accuracy of the installation vessel. Through this process, the comprehensive interference vector can fully reflect the dynamic interference situation under the current sea conditions.

[0033] S102: constructing a dynamic compensation model according to the comprehensive interference vector, and fitting the parameters of the dynamic compensation model using the least square method to obtain an optimal compensation coefficient.

[0034] In this embodiment, the purpose of the dynamic compensation model is to predict the displacement deviation that the installation vessel may experience based on the current environmental interference conditions and provide a basis for subsequent compensation strategies. When constructing the dynamic compensation model, the least squares method is used to fit the model parameters to obtain the optimal compensation coefficient. The least squares method is a classic mathematical optimization technique whose goal is to determine the best fitting parameters of the model by minimizing the sum of squared errors. Specifically, assuming that the comprehensive interference vector is , where x1, x2, etc. represent wind speed, wave height, etc. respectively. The model can be expressed as: Y=X·W Among them, Y is the predicted displacement deviation vector, X is the known input matrix, and W is the optimal compensation coefficient vector to be solved. Then, by solving it using the least squares method, we can get: W=(X T X) -1 X T Y Among them, (X T X) -1 is the matrix X T The inverse matrix of X. Through this formula, the optimal compensation coefficient vector W can be calculated, thus providing a theoretical basis for subsequent dynamic compensation.

[0035] S103, inputting the optimal compensation coefficient into the adaptive filtering algorithm to calculate the real-time dynamic compensation amount.

[0036] After obtaining the optimal compensation coefficient, it is input into the adaptive filtering algorithm to calculate the real-time dynamic compensation amount. The adaptive filtering algorithm is a technology that can automatically adjust the filter parameters according to the changes in the input signal. Its core lies in the recursive update weight formula. Specifically, the prediction output formula of the adaptive filtering algorithm is:

[0037] in, is the predicted output at the kth moment, w i (k) is the weight of the i-th filter, x i (k) is the i-th input signal, and N is the filter order. The formula for recursively updating the weights is: w i (k+1)=w i (k)+μe(k)x i (k) Where μ is the step size factor and e(k) is the prediction error, defined as the difference between the actual output and the predicted output:

[0038] The selection of the step factor μ is crucial for the convergence and stability of the algorithm. In the present invention, the step factor is calculated using the following formula: Where γ is a fixed gain, is the norm of the input signal, is a regularization parameter used to prevent the denominator from being zero. Through this formula, the step size factor can be dynamically adjusted according to the strength of the input signal, thereby ensuring the applicability of the algorithm in different sea conditions.

[0039] S104, adjusting the propeller output power of the installation vessel according to the real-time dynamic compensation amount, generating a compensation control instruction, and sending the compensation control instruction to the propeller control system to achieve dynamic compensation.

[0040] After calculating the real-time dynamic compensation, it needs to be decomposed into horizontal and vertical components in order to adjust the lateral and longitudinal output power of the thruster respectively. Specifically, the calculation formula of the compensation control command is: in, and are the transverse and longitudinal thruster output powers, K p is the proportional gain, K d is the differential gain, Δx and Δy are the compensation amounts in the horizontal and vertical directions respectively. and are their change rates respectively. Proportional gain K pand differential gain K d The selection of needs to be adjusted according to the specific dynamic characteristics of the installation vessel to ensure that the compensation control instructions can respond quickly and effectively suppress external interference.

[0041] Furthermore, to further improve compensation accuracy, an interference threshold can be calculated based on the maximum interference component in the integrated interference vector and the number of components exceeding this threshold can be counted. The order of the dynamic compensation model can be adjusted based on the number of components to optimize the compensation effect. For example, if a large number of components in the integrated interference vector exceed the interference threshold, the model order can be appropriately increased to improve compensation accuracy; conversely, the order can be reduced to reduce computational complexity.

[0042] After the compensation control command is generated, it is sent to the thruster control system to achieve dynamic compensation. The thruster control module adjusts the output power of the thruster according to the compensation control command. The specific formula is:

[0043] Among them, U(k) is the thruster output power at the kth moment, U0 is the initial output power, and ΔU(k) ​​is the real-time dynamic compensation.

[0044] The calculation formula of real-time dynamic compensation is:

[0045] Where ΔU(k) ​​is the real-time dynamic compensation, α is the proportional coefficient, β is the integral coefficient, and ΔX(k) is the change in the integrated interference vector. This formula allows the thruster output power to be dynamically adjusted based on the change in the integrated interference vector, enabling precise control of the installation vessel's position.

[0046] In practical applications, the above method and system have been integrated into the positioning and control platform of an offshore wind turbine installation vessel. The platform uses multi-source sensing devices to collect environmental parameters in real time. A data fusion module generates a comprehensive interference vector. The dynamic compensation module and adaptive filtering module then calculate real-time dynamic compensation. Finally, the thruster control module generates compensation control commands and adjusts thruster output power. This entire process achieves closed-loop control, significantly improving the installation vessel's positioning accuracy and operational efficiency in complex sea conditions.

[0047] In summary, this invention addresses the issues of delayed response and increased positioning deviation in complex sea conditions associated with traditional positioning and control methods by introducing an intelligent dynamic compensation mechanism, combined with multi-source sensor data fusion technology and an adaptive filtering algorithm. Precise control of thruster output power enables independent compensation in both horizontal and vertical directions, ensuring safe and efficient installation operations. The specific implementation of this invention fully demonstrates its technical advantages and provides strong technical support for offshore wind power installation.

[0048] See also Figure 2 The second embodiment of the present invention further provides a real-time dynamic compensation positioning and control system for an offshore wind power installation vessel, the system comprising: The data fusion module 210 is used to collect environmental parameters obtained synchronously by multiple-source sensing devices, perform data fusion processing on the environmental parameters, and obtain a comprehensive interference vector; The dynamic compensation module 220 is used to construct a dynamic compensation model based on the comprehensive interference vector and fit the parameters of the dynamic compensation model using the least squares method to obtain the optimal compensation coefficient; Adaptive filtering module 230, used to input the optimal compensation coefficient into the adaptive filtering algorithm to calculate the real-time dynamic compensation amount; The propeller control module 240 is used to adjust the propeller output power of the installation vessel according to the real-time dynamic compensation amount, generate compensation control instructions, and send the compensation control instructions to the propeller control system to achieve dynamic compensation.

[0049] The data fusion module 210 is further configured to: The interference threshold is calculated based on the maximum interference component in the integrated interference vector; The number of components in the comprehensive interference vector that are greater than the interference threshold is obtained, and the order of the dynamic compensation model is adjusted according to the number of components.

[0050] The thruster control module 240 is further configured to: The real-time dynamic compensation is decomposed into horizontal and vertical components, and the lateral and longitudinal output power of the thruster are adjusted respectively. The compensation control instructions are obtained as follows: in, and are the transverse and longitudinal thruster output powers, K p is the proportional gain, K d is the differential gain, Δx and Δy are the compensation amounts in the horizontal and vertical directions respectively. and are their rates of change respectively.

[0051] The thruster control module 240 is further configured to: After adjusting the thruster output power according to the real-time dynamic compensation amount, the compensation control instruction is generated as follows:

[0052] Among them, ΔU(k) ​​is the real-time dynamic compensation amount, α is the proportional coefficient, β is the integral coefficient, and ΔX(k) is the change of the comprehensive interference vector.

[0053] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A real-time dynamic compensation method for positioning and controlling an offshore wind power installation vessel, characterized in that: The method includes: collecting environmental parameters, including wind speed, wave height, and flow rate, obtained synchronously by multi-source sensing devices, performing data fusion processing on the environmental parameters to obtain a comprehensive interference vector; constructing a dynamic compensation model based on the comprehensive interference vector, fitting the parameters of the dynamic compensation model using the least squares method to obtain an optimal compensation coefficient; inputting the optimal compensation coefficient into an adaptive filtering algorithm to calculate a real-time dynamic compensation amount; adjusting the propeller output power of the installation vessel based on the real-time dynamic compensation amount, generating a compensation control instruction, and sending the compensation control instruction to the propeller control system to achieve dynamic compensation.

2. The method according to claim 1, characterized in that Also includes: The interference threshold is calculated based on the maximum interference component in the integrated interference vector; The number of components in the comprehensive interference vector that are greater than the interference threshold is obtained, and the order of the dynamic compensation model is adjusted according to the number of components.

3. The method according to claim 1, characterized in that Also includes: The real-time dynamic compensation is decomposed into horizontal and vertical components, and the lateral and longitudinal output power of the thruster are adjusted respectively. The compensation control instructions are obtained as follows: in, and are the transverse and longitudinal thruster output powers, K p is the proportional gain, K d is the differential gain, Δx and Δy are the compensation amounts in the horizontal and vertical directions respectively. and are their rates of change respectively.

4. The method according to claim 1, wherein Also includes: After adjusting the thruster output power according to the real-time dynamic compensation amount, the compensation control instruction is generated as follows: Among them, U(k) is the thruster output power at the kth moment, U0 is the initial output power, and ΔU(k) ​​is the real-time dynamic compensation.

5. The method according to claim 1, characterized in that The step size factor of the adaptive filtering algorithm is: Where γ is a fixed gain, is the norm of the input signal, is the regularization parameter.

6. The method according to claim 1, characterized in that Also includes: After adjusting the thruster output power according to the real-time dynamic compensation amount, the compensation control instruction is generated as follows: Among them, ΔU(k) ​​is the real-time dynamic compensation amount, α is the proportional coefficient, β is the integral coefficient, and ΔX(k) is the change of the comprehensive interference vector.

7. A real-time dynamic compensation offshore wind power installation vessel positioning and control system, characterized in that: The system comprises: The data fusion module is used to collect environmental parameters obtained synchronously by multi-source sensing devices, perform data fusion processing on the environmental parameters, and obtain a comprehensive interference vector; The dynamic compensation module is used to construct a dynamic compensation model based on the comprehensive interference vector and use the least squares method to fit the parameters of the dynamic compensation model to obtain the optimal compensation coefficient; Adaptive filtering module, used to input the optimal compensation coefficient into the adaptive filtering algorithm to calculate the real-time dynamic compensation amount; The thruster control module is used to adjust the thruster output power of the installation vessel according to the real-time dynamic compensation amount, generate compensation control instructions, and send the compensation control instructions to the thruster control system to achieve dynamic compensation.

8. The system according to claim 7, characterized in that The data fusion module is also used for: The interference threshold is calculated based on the maximum interference component in the integrated interference vector; The number of components in the comprehensive interference vector that are greater than the interference threshold is obtained, and the order of the dynamic compensation model is adjusted according to the number of components.

9. The system according to claim 7, wherein: The thruster control module is further configured to: The real-time dynamic compensation is decomposed into horizontal and vertical components, and the lateral and longitudinal output power of the thruster are adjusted respectively. The compensation control instructions are obtained as follows: in, and are the transverse and longitudinal thruster output powers, K p is the proportional gain, K d is the differential gain, Δx and Δy are the compensation amounts in the horizontal and vertical directions respectively. and are their rates of change respectively.

10. The system according to claim 7, wherein: The thruster control module is further configured to: After adjusting the thruster output power according to the real-time dynamic compensation amount, the compensation control instruction is generated as follows: Among them, ΔU(k) ​​is the real-time dynamic compensation amount, α is the proportional coefficient, β is the integral coefficient, and ΔX(k) is the change of the comprehensive interference vector.

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