Automatic damping device of offshore floating platform

Abstract

The invention discloses an automatic damping device for an offshore floating platform, and belongs to the technical field of offshore floating platforms, the automatic damping device structurally comprises a floating structure, a torque inductor, a driving mechanism and a controller, the floating structure comprises a base frame and a buoy arranged on the base frame; the torque inductor is arranged on the base frame and used for monitoring the restoring torque of the offshore floating platform. The driving mechanism comprises a heaving plate, a lifting mechanism and a distance sensor, the heaving plate is arranged below the base frame, the lifting mechanism is connected between the heaving plate and the base frame and used for driving the heaving plate to be close to or away from the base frame, and the distance sensor is arranged on the lifting mechanism and used for detecting the current lifting distance of the lifting mechanism; the controller is used for obtaining the restoring torque and the current lifting distance and controlling the lifting mechanism to ascend and descend based on a PID algorithm. The distance between the heaving plate and the base frame can be adaptively adjusted according to the monitored restoring torque, platform vibration can be effectively restrained, the application range is wide, and practicability is high.

Description

Technical Field

[0001] The present invention relates to the technical field of offshore floating platforms, and in particular to an automatic vibration reduction device for offshore floating platforms. Background Art

[0002] In today's era of profound energy transformation, the renewable energy sector is booming, with wind power emerging as a key force with immense potential and advantages. Offshore wind power, in particular, stands out due to its unique advantages: abundant wind energy resources, long power generation times, proximity to key power demand areas, and the avoidance of farmland occupation. These advantages are leading the way for wind power.

[0003] As wind turbines migrate to more complex, deepwater locations, the cost of traditional fixed foundations becomes prohibitive, prompting the emergence of floating platforms. However, floating platforms are susceptible to complex wind, wave, and current loads in marine environments, causing them to experience unbalanced forces and unsteady motion. This complex motion severely disrupts the aerodynamic stability of wind turbines, shortening the lifespan of blades and key components, and becoming a significant obstacle to the efficient and sustainable operation of floating wind turbine systems. Therefore, vibration reduction design for floating foundations is crucial. Summary of the Invention

[0004] The purpose of the present invention is to overcome the deficiencies in the prior art and provide an automatic vibration reduction device for an offshore floating platform to solve the technical problem that the existing floating platform is affected by the environment on the sea surface and generates vibrations, thereby affecting the service life of the wind power generation equipment and the platform itself.

[0005] To achieve the above object, the present invention is implemented by adopting the following technical solutions:

[0006] The present invention provides an automatic vibration reduction device for an offshore floating platform, comprising:

[0007] A floating structure comprising a base frame and a buoy arranged on the base frame;

[0008] a torque sensor, provided on the base frame, for monitoring the restoring torque of the offshore floating platform;

[0009] A driving mechanism, comprising a heave plate, a lifting mechanism, and a distance sensor, wherein the heave plate is disposed below the base frame, the lifting mechanism is connected between the heave plate and the base frame, and is used to drive the heave plate toward or away from the base frame, and the distance sensor is disposed on the lifting mechanism and is used to detect a current lifting distance of the lifting mechanism;

[0010] The controller is electrically connected to the torque sensor, the lifting mechanism and the distance sensor respectively, and is used to obtain the restoring torque and the current lifting distance, and control the lifting of the lifting mechanism based on a PID algorithm.

[0011] Optionally, the base frame includes a plurality of connecting arms evenly distributed along the circumference, one end of each of the connecting arms is fixed to a common end, and the other end is recorded as an assembly end.

[0012] Optionally, the buoy includes a main buoy and side buoys, the main buoy is arranged at the common end, and the side buoys are the same in number as the connecting arms and are arranged at the assembly end in a one-to-one correspondence.

[0013] Optionally, the lifting mechanisms are the same in number as the connecting arms, and are arranged in a one-to-one correspondence at the bottom of the assembly end.

[0014] Optionally, the torque sensor and the controller are arranged at the center of the base frame, a channel is provided in the connecting arm, and the wires on the controller are connected to the corresponding lifting mechanism and the distance sensor through the channel.

[0015] Optionally, the lifting mechanism includes an air cylinder, an oil cylinder or an electric push rod.

[0016] Optionally, the heave plate is a regular polygon, the number of its sides is the same as the number of the connecting arms, and each vertex thereof is arranged in a one-to-one correspondence below the assembly end.

[0017] Optionally, controlling the lifting mechanism to move up and down based on a PID algorithm includes:

[0018] According to the restoring torque Calculate the adjustment distance of the lifting mechanism :

[0019]

[0020] Where, The transmission efficiency and load capacity of the lifting mechanism;

[0021] According to the adjustment distance and current lift distance Calculate target lift distance :

[0022]

[0023] Using PID algorithm, according to the target lifting distance and current lift distance Error calculation control quantity :

[0024]

[0025]

[0026] Where, for The lifting distance at the moment, for The error value at time, All are PID parameters;

[0027] By controlling the amount Control the lifting mechanism to move up and down.

[0028] Compared with the prior art, the present invention has the following beneficial effects:

[0029] The present invention provides an automatic vibration reduction device for an offshore floating platform. By setting a torque sensor to obtain the magnitude of the restoring torque, a controller calculates the corresponding control quantity according to the PID algorithm and controls the lifting and lowering of the lifting mechanism, thereby adjusting the distance between the heave plate and the base frame, thereby producing the effect of suppressing the vibration of the platform and achieving the vibration reduction goal of the floating platform. The device has a simple structure and sensitive response, can be used on different types of floating platforms, has a wide range of applications, and is highly practical. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 1 is a schematic structural diagram of an automatic vibration reduction device for an offshore floating platform provided in a first embodiment of the present invention;

[0031] Figure 2 1 is a schematic structural diagram of an automatic vibration reduction device for an offshore floating platform provided in a second embodiment of the present invention;

[0032] The following are marked in the figure:

[0033] 1. Connecting arm; 2. Main buoy; 3. Side buoy; 4. Lifting mechanism; 5. Heave plate; 6. Torque sensor. DETAILED DESCRIPTION

[0034] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present invention and are not intended to limit the scope of protection of the present invention.

[0035] Example 1:

[0036] An embodiment of the present invention provides an automatic vibration reduction device for an offshore floating platform, including a floating structure, a torque sensor 6, a driving mechanism and a controller, wherein the floating structure includes a base frame and a buoy arranged on the base frame; the torque sensor 6 is arranged on the base frame for monitoring the restoring torque of the offshore floating platform; the driving mechanism includes a heave plate 5, a lifting mechanism 4 and a distance sensor, the heave plate 5 is arranged below the base frame, the lifting mechanism 4 is connected between the heave plate 5 and the base frame, and is used to drive the heave plate 5 to approach or move away from the base frame, and the distance sensor is arranged on the lifting mechanism 4 for detecting the current lifting distance of the lifting mechanism 4; the controller is electrically connected to the torque sensor 6, the lifting mechanism 4 and the distance sensor, respectively, for obtaining the restoring torque and the current lifting distance, and controlling the lifting and lowering of the lifting mechanism 4 based on the PID algorithm.

[0037] In order to maintain balanced and stable force, the base frame often adopts a rotationally symmetrical structure.

[0038] like Figure 1 As shown, the base frame includes three connecting arms 1 evenly distributed along the circumference. One end of each of the three connecting arms 1 is fixed to a common end, and the other end is designated as the assembly end. The buoys include a main buoy 2 and side buoys 3. There is one main buoy 1, located at the top of the common end, and three side buoys 3, each correspondingly located at the top of the assembly end. There are three lifting mechanisms 4, each correspondingly located at the bottom of the assembly end. The heave plates 5 are equilateral triangles, with each vertex correspondingly located below the assembly end.

[0039] The torque sensor 6 and controller are located at the center of the base frame. A channel is provided in the connecting arm 1, through which the wires on the controller are connected to the corresponding lifting mechanism 4 and distance sensor. (The channel design facilitates the routing of the wires and protects them from damage caused by environmental corrosion.) In this embodiment, the torque sensor 6 uses a six-dimensional force sensor, located at the center of the base frame, to better reflect the impact of the environment on the entire offshore floating platform. The six-dimensional force sensor can capture the complete force / torque state of an object in space in real time, converting mechanical deformation into electrical signals.

[0040] The lifting mechanism 4 may be selected from, but not limited to, a pneumatic cylinder, an oil cylinder or an electric push rod as needed.

[0041] Taking the electric linear actuator as an example, the PID algorithm is used to control the lifting mechanism, including:

[0042] According to the restoring torque Calculate the adjustment distance of the lifting mechanism :

[0043]

[0044] Where, The transmission efficiency and load capacity of the lifting mechanism;

[0045] According to the adjustment distance and current lift distance Calculate target lift distance :

[0046]

[0047] Using PID algorithm, according to the target lifting distance and current lift distance Error calculation control quantity :

[0048]

[0049]

[0050] Where, for The lifting distance at the moment, for The error value at time, All are PID parameters;

[0051] By controlling the amount Control the lifting mechanism to move up and down, and control the amount Converted into PWM signal to control the drive motor on the electric push rod:

[0052]

[0053] Where: is the maximum value of the PWM signal (such as 255), is the maximum value of the control quantity.

[0054] Continue to read the current lifting distance fed back by the distance sensor , perform PID closed-loop control to ensure that the target lifting distance is achieved .

[0055] In summary, in actual use, when a floating platform is subjected to external disturbances such as wind, waves, and current in the marine environment, it experiences dynamic irregular motion, generating a certain restoring torque. The torque sensor 6 collects the changes in torque acting on the platform in real time, converts this dynamic torque into an analog electrical signal, and transmits it to the controller via a connection line internally arranged at the center of the connecting arm 1. The controller converts the received voltage signal into an actual torque value and calculates the corresponding lifting amplitude using an embedded motion model. Based on the error between the target position and the actual position, the control unit uses a PID control algorithm to generate a precise control variable, which is converted into a PWM signal and issued. This drives the lifting mechanism 4 to raise or lower, thereby driving the heave plate 5 up and down beneath the platform. The movement of the heave plate 5 alters the water flow path and the added mass effect, thereby suppressing heave. This process continues continuously, with the distance sensor providing feedback on the lifting distance of the lifting mechanism 4, and the closed-loop control variable is adjusted to ensure that the platform remains stable in turbulent conditions. Since the torque sensor 6 can continuously monitor the dynamic stress conditions of the platform, the system can continuously feedback the current vibration state and adjust the lifting mechanism 4 according to the real-time data received, so that the heave plate 5 generates a compensating force in the opposite direction on the platform, thereby effectively suppressing and reducing the vibration caused by external disturbances.

[0056] Example 2:

[0057] like Figure 2 As shown, based on the first embodiment, the embodiment of the present invention provides a structure of an automatic vibration reduction device. The base frame includes four groups of connecting arms 1 evenly distributed along the circumference. The connecting arms 1 are further designed as a first connecting arm 11, a second connecting arm 12 and a third connecting arm 13. Each group of connecting arms 1 corresponds to a side buoy 3. One end of the first connecting arm 11 and the second connecting arm 12 are respectively connected to the upper and lower ends of the side buoy 3. The third connecting arm 13 connects the lower ends of two adjacent side buoys 3. The other end of the first connecting arm 11 and the second connecting arm 12 is a common end, and there is one main buoy 1 and it is arranged on the top of the common end. There are four lifting mechanisms 4 and they are arranged one by one at the assembly end at the bottom of the side buoy 3. The vertical swing plate 5 is a regular quadrilateral, and each of its vertex angles is arranged one by one below the assembly end.

[0058] This embodiment further designs the connecting arm 1 to ensure the strength of the overall structure and effectively extend the service life.

[0059] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0060] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0061] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. An automatic vibration reduction device for an offshore floating platform, characterized in that: include: A floating structure comprising a base frame and a buoy arranged on the base frame; a torque sensor, provided on the base frame, for monitoring the restoring torque of the offshore floating platform; A driving mechanism, comprising a heave plate, a lifting mechanism, and a distance sensor, wherein the heave plate is disposed below the base frame, the lifting mechanism is connected between the heave plate and the base frame, and is used to drive the heave plate toward or away from the base frame, and the distance sensor is disposed on the lifting mechanism and is used to detect a current lifting distance of the lifting mechanism; The controller is electrically connected to the torque sensor, the lifting mechanism and the distance sensor respectively, and is used to obtain the restoring torque and the current lifting distance, and control the lifting of the lifting mechanism based on a PID algorithm.

2. The automatic vibration reduction device for an offshore floating platform according to claim 1, characterized in that: The base frame includes a plurality of connecting arms evenly distributed along the circumference, one end of each of the connecting arms is fixed to a common end, and the other end is recorded as an assembly end.

3. The automatic vibration reduction device for an offshore floating platform according to claim 2, characterized in that: The buoys include a main buoy and side buoys. The main buoys are arranged at the common end. The side buoys are the same in number as the connecting arms and are arranged at the assembly end in a one-to-one correspondence.

4. The automatic vibration reduction device for an offshore floating platform according to claim 2, characterized in that: The lifting mechanisms are the same in number as the connecting arms, and are arranged at the bottom of the assembly end in a one-to-one correspondence.

5. The automatic vibration reduction device for an offshore floating platform according to claim 4, characterized in that: The torque sensor and the controller are arranged at the center of the base frame. A channel is provided in the connecting arm, and the wires on the controller are connected to the corresponding lifting mechanism and the distance sensor through the channel.

6. The automatic vibration reduction device for an offshore floating platform according to claim 1, characterized in that: The lifting mechanism includes an air cylinder, an oil cylinder or an electric push rod.

7. The automatic vibration reduction device for an offshore floating platform according to claim 2, characterized in that: The heave plate is a regular polygon, the number of its sides is the same as the number of the connecting arms, and each vertex thereof is arranged below the assembly end in a one-to-one correspondence.

8. The automatic vibration reduction device for an offshore floating platform according to claim 1, characterized in that: The controlling of the lifting mechanism based on the PID algorithm includes: According to the restoring torque Calculate the adjustment distance of the lifting mechanism : Where, The transmission efficiency and load capacity of the lifting mechanism; According to the adjustment distance and current lift distance Calculate target lift distance : Using PID algorithm, according to the target lifting distance and current lift distance Error calculation control quantity : Where, for The lifting distance at the moment, for The error value at the moment, All are PID parameters; By controlling the amount Control the lifting mechanism to move up and down.

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