Vibration reduction system, vibration reduction control method and floating fan

Abstract

The invention provides a vibration reduction system, a vibration reduction control method and a floating fan. The damping system comprises: a first flange (1); the second flange (2) and the first flange (1) are arranged at an interval; the first end of the spring damping assembly is connected to the first flange (1), and the second end of the spring damping assembly is connected to the second flange (2); the hydraulic vibration reduction assembly comprises a hydraulic telescopic rod (3) and a hydraulic station (4), the hydraulic station (4) is connected with the hydraulic telescopic rod (3), the first end of the hydraulic telescopic rod (3) is connected to the first flange (1), and the second end of the hydraulic telescopic rod (3) is connected to the second flange (2). According to the vibration reduction system, coupling suppression of multi-degree-of-freedom vibration can be achieved, the dynamic response requirement of a changeable marine environment is met, and the vibration reduction effect is improved.

Description

Technical Field

[0001] This invention relates to the field of wind turbine technology, and more specifically, to a vibration reduction system and vibration reduction control method, and a floating wind turbine. Background Technology

[0002] With the growing global demand for renewable energy, wind power, as a clean and promising energy source, has received unprecedented attention and development. Deep-sea areas, in particular, offer unique environmental advantages—higher average annual wind speeds and lower turbulence—providing ideal conditions for the efficient utilization of wind energy. These sea areas are far from land, and wind resources are not blocked by landforms, resulting in more stable and stronger winds. Furthermore, water depths exceeding 50 meters prevent the deployment of traditional fixed wind power facilities, thus driving the innovation and application of semi-submersible floating wind turbine technology.

[0003] Semi-submersible floating wind turbines are an innovative offshore wind power solution that utilizes floating foundations to support massive towers and wind turbine generators, enabling stable operation in deep-sea areas. The key to this technology lies in its ability to adapt to complex marine environments while effectively capturing wind energy. However, floating wind turbines face significant challenges during operation, particularly the coupled effects of multi-source environmental loads such as wind, waves, and ocean currents, leading to six degrees of freedom motion on the turbine platform: sway, heave, roll, pitch, and bow. These vibrations directly affect the wind turbine's upwind performance, reducing power generation. Simultaneously, they generate alternating stress at the connection between the tower base and the foundation, accelerating metal fatigue, increasing the risk of structural failure, and potentially even triggering severe vibration instability, threatening the safety and economic viability of the entire system.

[0004] Faced with these challenges, existing vibration reduction technologies mostly rely on passive damping methods, such as fixed damping plates, tuned mass dampers (TMDs), and liquid dampers. While these passive damping devices are relatively simple in structure and require no external energy supply, their damping parameters are usually fixed. This means that once the design is complete, they cannot dynamically respond to the changing marine environment. In extreme sea states, the energy dissipation capacity of passive damping devices is limited, potentially leading to the failure of protective measures and an inability to effectively suppress severe vibrations. Conversely, in calm sea states, excessive damping can consume too much power, affecting normal operating efficiency and causing energy waste. Summary of the Invention

[0005] The main objective of this invention is to provide a vibration reduction system and vibration reduction control method, as well as a floating wind turbine, which can achieve coupled suppression of multi-degree-of-freedom vibrations, meet the dynamic response requirements of the changing marine environment, and improve the vibration reduction effect.

[0006] To achieve the above objectives, according to one aspect of the present invention, a vibration damping system is provided, comprising:

[0007] First flange;

[0008] The second flange is spaced apart from the first flange;

[0009] The spring damping assembly has one end connected to the first flange and the other end connected to the second flange.

[0010] The hydraulic vibration damping assembly includes a hydraulic telescopic rod and a hydraulic station. The hydraulic station is connected to the hydraulic telescopic rod. The first end of the hydraulic telescopic rod is connected to the first flange, and the second end is connected to the second flange.

[0011] Furthermore, the spring damping assembly includes multiple damping springs, which are arranged at intervals along the circumference of the first flange, and multiple hydraulic telescopic rods, which are also arranged at intervals along the circumference of the first flange.

[0012] Furthermore, multiple damping springs are arranged in a circle, and multiple hydraulic telescopic rods are arranged in a circle, with the centers of the circles containing the damping springs and the hydraulic telescopic rods coinciding.

[0013] Furthermore, the damping springs and hydraulic telescopic rods are arranged alternately along the circumference of the first flange.

[0014] Furthermore, the hydraulic telescopic rod is located on the outer periphery of the damping spring.

[0015] Furthermore, the vibration reduction system also includes a control component that is electrically connected to the hydraulic station and can actively control the extension and retraction of the hydraulic telescopic rod.

[0016] Furthermore, the control components include a control unit, a servo valve, a displacement sensor, a six-degree-of-freedom detector, a wave radar, and a flow meter. The control unit is communicatively connected to the servo valve, the hydraulic station, the displacement sensor, the six-degree-of-freedom detector, the wave radar, and the flow meter, and actively controls the extension and retraction of the hydraulic telescopic rod through the hydraulic station and the servo valve based on the detection data from the displacement sensor, the six-degree-of-freedom detector, the wave radar, and the flow meter.

[0017] Furthermore, the first flange is located above the second flange, and the hydraulic telescopic rod is rigidly connected to the first flange, forming a ball joint with the second flange.

[0018] Furthermore, the first flange is located on the upper side of the second flange, and the damping spring includes multiple disc spring assemblies and guide rods. The guide rods are arranged in a one-to-one correspondence with the disc spring assemblies. The guide rods pass through the central hole of the disc spring assemblies. The first end of the guide rod is fixedly connected to the second flange, and the second end of the guide rod passes through the first flange and can slide relative to the first flange. A limit structure is provided at the end of the guide rod that extends out of the first flange. The limit structure restricts the sliding position of the guide rod relative to the first flange.

[0019] Further, the first flange is provided with a counterbore on the side away from the second flange, and a self-lubricating bushing is embedded in the counterbore, and the guide rod is installed in the self-lubricating bushing.

[0020] Further, the diameter of the circle on which the top ends of the plurality of hydraulic telescopic rods are located is smaller than the diameter of the circle on which the bottom ends are located.

[0021] Further, the vibration damping spring assembly can independently bear 70% to 80% of the design static load and 45% to 55% of the design dynamic load, and maintain 80% to 85% of the connection stiffness design value of the first flange and the second flange.

[0022] According to another aspect of the present application, a floating wind turbine is provided, comprising a tower and a foundation column, and further comprising the above-mentioned vibration damping system, the vibration damping system being connected between the tower and the foundation column, the first flange of the vibration damping system being arranged at the bottom of the tower and fixedly connected with the tower, and the second flange of the vibration damping system being arranged at the top of the foundation column and fixedly connected with the foundation column.

[0023] Further, when the vibration damping system comprises a displacement sensor and a six-degree-of-freedom detector, the displacement sensor is arranged at the top of the tower, and the six-degree-of-freedom detector is arranged at the top of the tower and the center of gravity of the foundation column.

[0024] According to another aspect of the present application, a vibration damping control method for the above-mentioned vibration damping system is provided, comprising:

[0025] obtaining sea state parameters;

[0026] selecting a vibration damping mode of the vibration damping system according to the sea state parameters;

[0027] The vibration damping mode of the vibration damping system comprises a passive damping mode, a full-active compensation mode and a survival posture maintaining mode.

[0028] Further, the step of selecting the vibration damping mode of the vibration damping system according to the sea state parameters comprises:

[0029] When it is detected that the significant wave height Hs < am, the vibration damping system is controlled to switch to the passive damping mode, and the hydraulic telescopic rods provide constant damping;

[0030] When it is detected that am≤Hs < bm, the vibration damping system is controlled to switch to the full-active compensation mode, the optimal force and torque of the hydraulic telescopic rods are calculated, and the extension length of the hydraulic telescopic rods is adjusted according to the calculation results;

[0031] When it is detected that Hs≥bm or the hydraulic pressure is lost, the vibration damping system is controlled to switch to the survival posture maintaining mode, the current length of the hydraulic telescopic rods is locked, and the passive support is provided by the spring damping assembly.

[0032] The damping system is capable of coupling damping by using two different types of damping mechanisms, by simultaneously configuring the spring damping assembly and the hydraulic damping assembly between the first flange and the second flange. The spring damping assembly, as a mechanical damping structure, is capable of absorbing and buffering most of the vibration energy when the fan suffers from static load or low-frequency vibration, by virtue of its inherent elastic property, and converting the vibration energy into elastic potential energy through the compression and stretching process of the spring, thereby achieving the purpose of consuming vibration energy. This passive damping mode ensures that the system has a continuous and stable working performance under normal working conditions, and can operate without external energy, thereby improving the environmental adaptability and energy efficiency ratio of the damping system. The hydraulic damping assembly focuses on adaptive damping under dynamic working conditions. The hydraulic telescopic rod is driven by the hydraulic station, and is capable of adjusting its extension state and hydraulic damping, output force and torque according to the vibration working condition, effectively offsetting the six-degree-of-freedom vibration caused by waves, ocean currents and the like, and effectively adjusting the damping energy by virtue of the adjustable hydraulic damping of the hydraulic damping assembly, thereby improving the applicability of damping, especially when high-frequency or large-amplitude vibration is encountered, the vibration amplitude can be effectively reduced, the structure fatigue and vibration instability can be prevented, and the reliability of the damping system in harsh environments is improved. The spring damping assembly serves as the basis for static support and low-frequency passive damping, and can ensure the smooth operation of the entire system under normal working conditions; and the hydraulic damping assembly serves as a supplement under high-frequency and dynamic working conditions, and strengthens the dynamic response capability and the processing capability of the damping system to complex vibration by actively controlling the force and torque. This coupling damping strategy makes the system not only effectively cope with low-frequency vibration under normal sea conditions, but also quickly adapt to and suppress severe fluctuations under severe weather, thereby realizing wide-band, all-weather and efficient damping effect, and greatly improving the structural stability and operation safety of the fan platform. BRIEF DESCRIPTION OF DRAWINGS

[0033] The accompanying drawings, which form a part of the specification, are included to provide a further understanding of the application and are incorporated herein in conjunction with the description of the application. The drawings are as follows:

[0034] Fig. 1 A structural schematic diagram of a damping system according to an embodiment of the application is shown;

[0035] Fig. 2 A sectional structural schematic diagram of a damping system according to an embodiment of the application is shown;

[0036] Fig. 3 A three-dimensional structural schematic diagram of a floating wind turbine according to an embodiment of the application is shown.

[0037] In the above drawings, the following reference signs are used:

[0038] 1, first flange; 2, second flange; 3, hydraulic telescopic rod; 4, hydraulic station; 5, damping spring; 6, control unit; 7, displacement sensor; 8, six-degree-of-freedom detector; 9, wave radar; 10, flowmeter; 11, disc spring group; 12, guide rod; 13, self-lubricating bushing; 14, tower; 15, foundation column; 16, platform; L, installation area. DETAILED DESCRIPTION

[0039] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0040] In combination with Figs. 1 to 3 As shown in the drawings, according to the embodiments of the present application, the damping system is applied to a floating wind turbine, and the damping system comprises: a first flange 1; a second flange 2, which is arranged at intervals from the first flange 1; a spring damping assembly, which is connected at a first end to the first flange 1 and at a second end to the second flange 2; and a hydraulic damping assembly, which comprises a hydraulic telescopic rod 3 and a hydraulic station 4, the hydraulic station 4 being connected to the hydraulic telescopic rod 3, the first end of the hydraulic telescopic rod 3 being connected to the first flange 1 and the second end being connected to the second flange 2.

[0041] The damping system is capable of coupled damping by simultaneously configuring the spring damping assembly and the hydraulic damping assembly between the first flange 1 and the second flange 2. The spring damping assembly, as a mechanical damping structure, is capable of absorbing and storing most of the vibration energy when the wind turbine is subjected to static load or low-frequency vibration by virtue of its inherent elastic properties, converting the vibration energy into elastic potential energy through the compression and stretching process of the spring, and thus achieving the purpose of consuming vibration energy. This passive damping method ensures that the system has a continuous and stable performance under normal working conditions, and can operate without external energy, thereby improving the environmental adaptability and energy efficiency ratio of the damping system.

[0042] The hydraulic damping assembly focuses on adaptive damping under dynamic conditions. The hydraulic telescopic rod 3, driven by the hydraulic station 4, can adjust its telescopic state and hydraulic damping, output force and torque according to the vibration conditions, effectively counteracting the six-degree-of-freedom vibration caused by waves, ocean currents and other excitations. By virtue of the adjustable hydraulic damping of the hydraulic damping assembly, the damping energy can be effectively adjusted, and the applicability of damping can be improved. Especially when encountering high-frequency or large-amplitude vibration, the vibration amplitude can be effectively reduced to prevent structural fatigue and vibration instability, thereby increasing the reliability of the damping system in harsh environments.

[0043] The spring damping assembly serves as the basis for static support and low-frequency passive damping, ensuring the smooth operation of the entire system under normal working conditions. The hydraulic damping assembly serves as a supplement under high-frequency and dynamic conditions, enhancing the dynamic response capability and the ability to handle complex vibrations of the damping system through active control of force and torque. This coupled damping strategy enables the system to effectively respond to low-frequency vibrations under normal sea conditions and quickly adapt to and suppress severe fluctuations under adverse weather conditions, thereby achieving a wide-band, all-weather high-efficiency damping effect, greatly improving the structural stability and operational safety of the wind turbine platform.

[0044] In addition, the spring damping assembly and the hydraulic damping assembly are combined for damping. In the event of hydraulic system failure or extreme working conditions, the spring damping assembly can also provide redundant support to ensure safe shutdown of the wind turbine.

[0045] In one embodiment, the spring damping assembly includes a plurality of damping springs 5 arranged in a circumferential direction of the first flange 1, and a plurality of hydraulic telescopic rods 3 arranged in a circumferential direction of the first flange 1.

[0046] By arranging a plurality of damping springs 5 in a circumferential direction of the first flange 1 and cooperating with a plurality of hydraulic telescopic rods 3 arranged in the same circumferential direction, the six-degree-of-freedom vibration of the wind turbine can be uniformly and comprehensively suppressed, ensuring that the spring damping assembly can passively and efficiently absorb vibration energy regardless of the direction of vibration input, and the hydraulic damping assembly can actively adjust the hydraulic damping to provide force and torque compensation. This layout not only balances the stress of the structure, but also enhances the overall damping performance and dynamic stability of the damping system.

[0047] In one embodiment, the plurality of damping springs 5 are arranged in a circle, and the plurality of hydraulic telescopic rods 3 are arranged in a circle, and the circle centers of the damping springs 5 and the hydraulic telescopic rods 3 coincide.

[0048] The layout of the circle formed by the plurality of damping springs 5 and the circle formed by the plurality of hydraulic telescopic rods 3 sharing the same center enables the damping system to be uniformly distributed around the connection interface between the first flange 1 and the second flange 2, ensuring that vibrations from any direction can be effectively captured and suppressed. This symmetrical design not only maximizes the damping effect, but also achieves comprehensive control of the six-degree-of-freedom motion of the wind turbine by combining the passive energy absorption of the damping springs 5 with the active force output of the hydraulic telescopic rods 3, greatly enhancing the stability and safety of the floating wind turbine in variable sea conditions and ensuring the continuity and efficiency of the wind turbine operation.

[0049] In one embodiment, the damping springs 5 and the hydraulic telescopic rods 3 are arranged in a staggered manner along the circumferential direction of the first flange 1.

[0050] By arranging damping springs 5 ​​and hydraulic telescopic rods 3 in a staggered pattern along the circumference of the first flange 1, vibrations in each direction at the connection between the first flange 1 and the second flange 2 are ensured to be responded to and handled immediately, guaranteeing uniform load distribution and avoiding radial interference during spring compression. The elastic damping of the damping springs 5 ​​and the hydraulic damping of the hydraulic telescopic rods 3 complement each other, forming a seamless damping network. Even under complex and variable marine environmental loads, it can achieve immediate suppression and smooth transition of six-degree-of-freedom motion, significantly enhancing the dynamic stability of the floating wind turbine, reducing the risk of structural fatigue, and thus improving overall safety and operational efficiency.

[0051] In one embodiment, the hydraulic telescopic rod 3 is located on the outer periphery of the damping spring 5.

[0052] The hydraulic telescopic rod 3 is arranged on the outer periphery of the damping spring 5. This inner and outer layer distribution structure takes advantage of the central position of the spring damping component, enabling it to preferentially absorb and mitigate the static load and low-frequency vibration in the central area. The outer hydraulic telescopic rod 3 is not affected by the movement of the spring center, and can more flexibly use hydraulic damping to dampen the vibration in the outer area. This layout not only avoids motion interference between internal components, but also gives full play to the synergistic effect of damping and elastic damping, significantly improving the vibration resistance and dynamic stability of the bottom docking area of ​​the wind turbine tower.

[0053] In one embodiment, there are 12 damping springs 5 ​​arranged in a 30° annular array along the circumference of the first flange 1, and 12 hydraulic telescopic rods 3 arranged on the outer periphery of the damping springs 5 ​​in a 30° annular array along the circumference of the first flange 1. They are also staggered with the damping springs 5 ​​by 15° in the circumferential direction, so as to ensure uniform load distribution and avoid radial interference when the damping springs 5 ​​are compressed.

[0054] In one embodiment, the first flange 1 is located on the upper side of the second flange 2, and the hydraulic telescopic rod 3 is rigidly connected to the first flange 1 and forms a ball joint with the second flange 2.

[0055] By placing the first flange 1 above the second flange 2 and rigidly connecting the first flange 1 to the hydraulic telescopic rod 3, while simultaneously forming a ball joint connection at the second flange 2, the hydraulic telescopic rod 3 is able to vertically and stably withstand the axial load changes from the tower. At the same time, by utilizing the multi-directional force transmission characteristics of the ball joint, the bending moment constraints of the hydraulic telescopic rod 3 in the lateral and torsional directions are released, allowing it to freely adjust its angle when generating active control force to adapt to the complex six-degree-of-freedom motion of the floating wind turbine, thus avoiding the risk of oil leakage and failure caused by bending of the hydraulic telescopic rod 3.

[0056] In one embodiment, the hydraulic telescopic rod 3 is fixed on the second flange 2 by a spherical hinge support, which realizes multi-directional force transmission through spherical contact, releases the bending moment constraint of the hydraulic telescopic rod 3, ensures that the telescopic rod only bears axial force, and avoids the risk of oil leakage and failure caused by bending.

[0057] In one embodiment, the diameter of the circle where the top ends of the plurality of hydraulic telescopic rods 3 are located is smaller than the diameter of the circle where the bottom ends are located.

[0058] The top ends of the plurality of hydraulic telescopic rods 3 form a circle with a smaller diameter, while the bottom ends form a circle with a larger diameter. This conical layout can effectively disperse the load transmitted to the foundation by the tower cylinder under different motion modes (such as roll and pitch), reducing local stress concentration. At the same time, the conical structure provides more lateral swing space for the hydraulic telescopic rod 3, making it more flexible when generating multi-directional control force, enhancing the suppression ability of complex six-degree-of-freedom motion, especially in handling tower cylinder inclination and rotation caused by wind and waves, thereby improving the stability and safety of floating wind turbines in harsh marine environments.

[0059] In one embodiment, the diameter of the circle formed by the top ends of the plurality of hydraulic telescopic rods 3 is greater than the diameter of the circle where the damping springs 5 are located, which can more effectively avoid interference between the hydraulic telescopic rods 3 and the damping springs 5, while making the distribution of damping force more uniform and the damping effect better.

[0060] In one embodiment, the damping system further includes a control assembly, which is electrically connected to the hydraulic station 4 and can actively control the extension and retraction of the hydraulic telescopic rod 3.

[0061] The control assembly of the damping system is electrically connected to the hydraulic station 4, which can analyze the six-degree-of-freedom motion state of the wind turbine in real time and actively adjust the extension and retraction of the hydraulic telescopic rod 3 accordingly, realizing active control of hydraulic damping. This intelligent active control strategy enables the system to accurately respond to vibration requirements under different sea conditions, effectively suppresses the multi-directional vibration of the tower cylinder by dynamically adjusting the damping and compensation force of the telescopic rod, while avoiding energy waste caused by excessive damping, significantly improving the stability and energy utilization efficiency of floating wind turbines in complex marine environments.

[0062] In one embodiment, the control assembly includes multi-source sensors and intelligent control algorithms, which can realize the logic closed loop of environment perception + mode switching and precise execution. The intelligent control algorithm can be built-in in the control assembly or obtained in real time through networking by the control assembly.

[0063] The control assembly integrates multi-source sensors and advanced intelligent control algorithms, can monitor and analyze the ocean environment and the six-degree-of-freedom dynamic response of the tower in real time, automatically switch between passive damping, full-active compensation and survival posture keeping, realize seamless closed-loop control from environment perception to strategy decision to action execution, ensure that the damping system can play the best performance in various working conditions, not only significantly improve the operation stability and safety of the floating wind turbine, but also realize the optimization of energy utilization, enhance the overall performance and economic benefit of the wind turbine.

[0064] In this embodiment, the control assembly integrates intelligent control algorithms and has decision-making capabilities in three modes. 1. Passive damping mode: when the wave height is within the specified range, the hydraulic telescopic rod 3 outputs constant low damping, relying on the damping spring 5 to filter high-frequency vibration; 2. Full-active compensation mode: when the wave height is within the specified range, the optimal force and torque of the hydraulic telescopic rod 3 are calculated in advance using model prediction, driving the servo valve to adjust the length of the hydraulic telescopic rod 3 in real time to suppress large-scale swinging of the platform; 3. Survival posture keeping mode: when the wave height exceeds the specified range, the hydraulic telescopic rod 3 is locked at the current length, only passive support is provided by the damping spring 5 to limit the platform inclination, ensuring the structural safety in extreme working conditions.

[0065] In one embodiment, the control assembly includes a control unit 6, a servo valve, a displacement sensor 7, a six-degree-of-freedom detector 8, a wave radar 9 and a flowmeter 10. The control unit 6 is communicatively connected with the servo valve, the hydraulic station 4, the displacement sensor 7, the six-degree-of-freedom detector 8, the wave radar 9 and the flowmeter 10, and actively controls the extension and retraction of the hydraulic telescopic rod 3 through the hydraulic station 4 and the servo valve according to the detection data of the displacement sensor 7, the six-degree-of-freedom detector 8, the wave radar 9 and the flowmeter 10. The displacement sensor 7, the six-degree-of-freedom detector 8, the wave radar 9 and the flowmeter 10 can perform real-time sensing of the ocean environment and the platform state, providing a basis for active control of the control assembly.

[0066] The control unit 6 in the control assembly collects real-time data from the displacement sensor 7, the six-degree-of-freedom detector 8, the wave radar 9 and the flowmeter 10, uses intelligent control algorithms to accurately analyze the dynamic response of the floating wind turbine and the changes in the surrounding environment, and then adjusts the extension and retraction of the hydraulic telescopic rod 3 through communication with the hydraulic station 4 and the servo valve, achieving active suppression of the six-degree-of-freedom motion of the wind turbine. This closed-loop control mechanism greatly improves the response speed and control accuracy of the system, effectively reduces the vibration amplitude of the wind turbine in complex sea conditions, ensures the structural safety, and improves the energy conversion efficiency.

[0067] In this embodiment, by integrating spring damping components, hydraulic damping components, and control components for actively controlling the hydraulic damping components, an active-passive hybrid damping system can be formed. Through "structural layout optimization + multi-unit collaboration + intelligent mode adaptation", a unified approach of wide-frequency damping, safety redundancy, and energy efficiency can be achieved.

[0068] In calm sea conditions, vibration reduction relies solely on the damping spring 5 and the passive damping channel, requiring no external energy. In harsh conditions, the control algorithm drives the hydraulic actuator of the hydraulic station 4 to output active compensation force, significantly reducing the amplitude of platform motion. In extreme conditions, it switches to attitude holding mode to effectively avoid resonance amplification.

[0069] The hydraulic vibration damping component, combined with the control component, has excellent active compensation capabilities. Based on the precise control of the servo valve, the hydraulic telescopic rod 3 outputs three-dimensional forces of sway, roll, and heave, as well as three-dimensional torques of pitch, yaw, and yaw, which can offset wave and current excitation in real time and significantly improve the stability of the wind turbine operation.

[0070] In one embodiment, the control component can execute commands precisely, and the servo valve response time is in the millisecond range, ensuring that the main force output matches the platform movement in real time.

[0071] In one embodiment, the first flange 1 is located on the upper side of the second flange 2. The damping spring 5 includes a plurality of disc spring assemblies 11 and a guide rod 12. The guide rod 12 is arranged in a one-to-one correspondence with the disc spring assembly 11. The guide rod 12 passes through the central hole of the disc spring assembly 11. The first end of the guide rod 12 is fixedly connected to the second flange 2. The second end of the guide rod 12 passes through the first flange 1 and can slide relative to the first flange 1. A limit structure is provided at the end of the guide rod 12 that extends out of the first flange 1. The limit structure restricts the sliding position of the guide rod 12 relative to the first flange 1.

[0072] The first flange 1 is located above the second flange 2. Through the combination of the guide rod 12 and multiple disc spring assemblies 11, a vibration damping spring system capable of adapting to the six-degree-of-freedom motion of the tower is formed. The guide rod 12 ensures that the disc spring assembly 11 stably transmits force along the axial direction, while allowing it to slide relative to the first flange 1 within a limited range. This design enables the disc spring assembly 11 to effectively filter the dynamic vibration of the tower, especially small yaw, pitch, and yaw movements, while bearing static loads. The limiting structure ensures that the movement of the guide rod 12 does not exceed the safe range, preventing structural failure caused by excessive displacement. This provides reliable passive vibration damping support for the floating wind turbine and enhances the overall stability and safety redundancy of the system.

[0073] The high-strength disc spring assembly can still provide sufficient static load support and residual damping in the event of leakage or power failure in the hydraulic system, preventing excessive tilting or structural damage to the fan.

[0074] The first end of the guide rod 12 connected with the first flange 1 is provided with a limiting structure, which can be a snap ring, a locking nut, or a stop flange integrally formed with the guide rod 12. The limiting structure limits the sliding of the guide rod 12 along the first flange 1, prevents the guide rod 12 from coming out of the first flange 1, and ensures the stability and reliability of the connection between the guide rod 12 and the first flange 1. The limiting structure does not limit the depth of the guide rod 12 extending into the first flange 1, so that the first flange 1 is elastically supported by the disc spring set 11, thereby effectively utilizing the elasticity of the disc spring set 11 to absorb and consume the vibration energy transmitted to the damping system.

[0075] The second end of the guide rod 12 connected with the second flange 2 is provided with a threaded segment, and the second flange 2 is provided with a locking nut which cooperates with the threaded segment of the guide rod 12 to lock the guide rod 12 on the second flange 2.

[0076] In one embodiment, each disc spring set 11 includes a plurality of disc springs combined in a manner of being folded or compounded, which can offset the lateral component force or adjust the stiffness.

[0077] In one embodiment, each disc spring set 11 is composed of 7 pieces of folded / compounded laminated materials, which are high-strength medium-carbon alloys.

[0078] In one embodiment, the disc spring set 11 can also be replaced by a tension spring.

[0079] In one embodiment, the side of the first flange 1 away from the second flange 2 is provided with a counterbore, and a self-lubricating bushing 13 is embedded in the counterbore, and the guide rod 12 is installed in the self-lubricating bushing 13 and gap-fitted with the first flange 1.

[0080] The side of the first flange 1 away from the second flange 2 is designed with a counterbore, and a self-lubricating bushing 13 is embedded in the counterbore, and the guide rod 12 is precisely installed in the self-lubricating bushing 13, which ensures that the guide rod 12 can smoothly perform a small angular movement with the assistance of the self-lubricating bushing 13 while transmitting the axial force, effectively reducing the friction loss and noise during the movement, enhancing the dynamic response capability and damping effect of the disc spring set 11, especially when dealing with the complex six-degree-of-freedom motion of the wind turbine tower, such as rolling, pitching and yawing, providing a smoother and more reliable mechanical transmission path, and further improving the stability and service life of the system.

[0081] In one embodiment, the self-lubricating bushing 13 is a copper alloy self-lubricating bushing.

[0082] In one embodiment, the damping spring 5 assembly can independently bear 70%~80% of the designed static load and 45%~55% of the designed dynamic load, maintaining 80%~85% of the designed value of the connection stiffness of the first flange 1 and the second flange 2.

[0083] In this embodiment, the spring damping assembly has a safety redundancy mechanism. When the hydraulic system fails, the spring group can independently bear 70%~80% of the designed static load and 45%~55% of the designed dynamic load, maintaining 80%~85% of the designed value of the stiffness of the tower and the foundation connection, limiting the maximum inclination of the platform to 3°, and avoiding the instability of the platform.

[0084] In one embodiment, the six-degree-of-freedom detector is, for example, a six-degree-of-freedom IMU. The six-degree-of-freedom IMU (Inertial Measurement Unit) is a sensor device that can measure the motion state of an object in three-dimensional space with six degrees of freedom (3 translational degrees of freedom and 3 rotational degrees of freedom). It usually contains three mutually perpendicular accelerometers and three mutually perpendicular gyroscopes, which can monitor and output the linear acceleration and angular velocity information of the object in real time, and then obtain the attitude, position and velocity of the object after appropriate mathematical processing.

[0085] In the six-degree-of-freedom active-passive hybrid damping system of the floating wind turbine, the six-degree-of-freedom IMU is deployed at key positions such as the top of the tower and the center of gravity inside the foundation column, to capture the dynamic response of the wind turbine under the action of wind, wave, flow and other environmental loads in real time, including surge, sway, heave, roll, pitch and yaw. These high-precision motion information becomes an important input for intelligent control algorithms, helping the system accurately analyze the current sea conditions and wind turbine state, so as to intelligently switch between working modes, actively adjust the damping force and compensation moment of the hydraulic telescopic rod, and effectively suppress the six-degree-of-freedom vibration of the wind turbine, improving the stability and power generation efficiency of the system.

[0086] In one embodiment, the displacement sensor is, for example, a GNSS-RTK module.

[0087] The GNSS-RTK module is a high-precision positioning technology application, where GNSS (Global Navigation Satellite System) refers to a global satellite navigation system, including GPS (USA), GLONASS (Russia), GALILEO (Europe) and Beidou (China) satellite positioning systems, and RTK (Real-Time Kinematic) is a real-time dynamic positioning technology. The GNSS-RTK module combines these two technologies to provide centimeter-level positioning accuracy, which is particularly important for devices and applications that require accurate position information.

[0088] In the six-degree-of-freedom active-passive hybrid damping system of the floating wind turbine, the GNSS-RTK module is mainly used to monitor the accurate position of the wind turbine tower in real time, including its dynamic displacement and inclination angle in three-dimensional space. This high-precision positioning data is crucial for the operation of the control system, as it helps the control system to understand the dynamic response of the wind turbine in real time, including the small displacement and angle changes caused by environmental factors such as wind, waves, and currents. Based on these data, the intelligent control algorithm can more accurately assess the state of the wind turbine, thereby more effectively adjusting the damping force and compensation torque of the hydraulic telescopic rod to achieve precise suppression of six-degree-of-freedom vibration, ensuring the stability and safety of the wind turbine in complex sea conditions. In addition, the GNSS-RTK module can also provide the trend of the wind turbine's position change over a long period of time, which helps to monitor and analyze the long-term operation state of the wind turbine, providing key information for the maintenance and optimization of offshore wind power projects.

[0089] In one embodiment, the wave radar is a 2.4 GHz wave radar that can provide wave height, period, and direction within a certain sea area, and the flow meter is used to obtain surface flow velocity.

[0090] For reference Fig. 3 As shown in the drawings, according to the embodiment of the present application, the floating wind turbine includes a tower 14 and a foundation column 15, and also includes the above-mentioned damping system, which is connected between the tower 14 and the foundation column 15. The first flange 1 of the damping system is arranged at the bottom of the tower 14 and fixedly connected with the tower 14, and the second flange 2 of the damping system is arranged at the top of the foundation column 15 and fixedly connected with the foundation column 15.

[0091] The damping system is arranged in series along the longitudinal axis of the tower 14 between the tower 14 and the foundation column 15, i.e. at the installation area L, forming a collaborative working process of "double-mode damping unit + intelligent control closed loop". The static load (self-weight, equipment load) and dynamic load (wave load, etc.) borne by the tower 14 are transmitted through the first flange 1, the spring damping assembly, the second flange 2 to the foundation column 15, thereby reducing the risk of eccentric loading through the shortest mechanical path. At the same time, relying on the cooperation of the centrally distributed spring damping assembly (passive bearing), the peripheral hydraulic telescopic rod 3 (active compensation), and the intelligent control algorithm, an integrated damping mechanism of intelligent active damping and mechanical passive damping is realized.

[0092] In one embodiment, a platform 16 is arranged inside the tower 14, and the hydraulic station 4 is arranged on the platform 16 and supplies oil to the hydraulic telescopic rod 3 through pressure-resistant pipelines.

[0093] In one embodiment, when the damping system includes a displacement sensor 7 and a six-degree-of-freedom detector 8, the displacement sensor 7 is arranged at the top of the tower 14, and the six-degree-of-freedom detector 8 is arranged at the top of the tower 14 and the center of gravity of the foundation column 15.

[0094] The vibration reduction system is configured with a six-degree-of-freedom detector 8 respectively arranged at the center of gravity of the tower drum 14 and the foundation column 15, and a displacement sensor 7 arranged at the top of the tower drum 14. The distributed detection layout can comprehensively capture the dynamic displacement and six-degree-of-freedom motion characteristics of the wind turbine under the sea wave excitation, provide accurate real-time data for the intelligent control algorithm, and thus realize sensitive monitoring and response to the slight swing and complex attitude change of the tower drum, effectively improve the control precision and response speed of the system in the dynamic environment, and ensure the stable operation and structural safety of the floating wind turbine in different sea conditions.

[0095] According to the embodiment of the application, the vibration reduction control method of the vibration reduction system comprises: acquiring a sea condition parameter; selecting a vibration reduction mode of the vibration reduction system according to the sea condition parameter; the vibration reduction mode of the vibration reduction system comprises a passive damping mode, a full-active compensation mode and a survival attitude maintaining mode.

[0096] The vibration reduction system can intelligently select and switch the passive damping, full-active compensation or survival attitude maintaining mode by acquiring and analyzing the sea condition parameter in real time, and realize flexible control of the six-degree-of-freedom vibration of the floating wind turbine in combination with the synergistic effect of the central distributed spring group and the peripheral hydraulic telescopic rod 3, effectively suppress the vibration of the wind turbine under various sea conditions, improve the power generation efficiency, ensure the structural safety, and exhibit high adaptability and reliability of the system in the dynamic environment.

[0097] In one embodiment, the step of selecting the vibration reduction mode of the vibration reduction system according to the sea condition parameter comprises:

[0098] When it is detected that the significant wave height Hs < am, the vibration reduction system is controlled to switch to the passive damping mode, and the hydraulic telescopic rod 3 provides constant damping;

[0099] When it is detected that the significant wave height am≤Hs < bm, the vibration reduction system is controlled to switch to the full-active compensation mode, the optimal force and torque of the hydraulic telescopic rod 3 are calculated, and the extension length of the hydraulic telescopic rod 3 is adjusted according to the calculation result;

[0100] When it is detected that the significant wave height Hs≥bm or the hydraulic pressure is lost, the vibration reduction system is controlled to switch to the survival attitude maintaining mode, the current length of the hydraulic telescopic rod 3 is locked, and the passive support is provided by the spring damping assembly.

[0101] According to the sea state parameter dynamic adjustment damping mode, when the sea wave is small, the system automatically enters the passive damping mode, and the spring assembly naturally filters the vibration; when the sea state is medium, it is switched to the full active compensation mode, and the force and torque of the hydraulic telescopic rod are accurately calculated and adjusted to effectively control the six-degree-of-freedom motion of the fan; when the sea state is extreme or the hydraulic system fails, the survival posture keeping mode is enabled, the telescopic rod length is locked, and the spring is relied on to keep the fan stable. This intelligent mode switching strategy ensures that the damping system can provide the best damping effect and safety under different sea states.

[0102] The threshold value of the significant wave height can be adjusted according to the area where the floating wind turbine is located. In one embodiment, a = 1.5 and b = 4.

[0103] In one embodiment, the servo valve response time is ≤20 ms, realizing real-time matching of active force output and platform motion.

[0104] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, steps, operations, devices, components and / or combinations thereof, but do not preclude the presence or addition of one or more other features, steps, operations, devices, components and / or combinations thereof.

[0105] It should be noted that the terms "first", "second", and the like in the description and in the claims of the present application are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the use of these terms herein is merely for distinguishing between the elements being described and not necessarily for describing a particular sequential or chronological order.

[0106] The preferred embodiments of the present application have been described above with the aid of drawing provided only by way of example and therefore changes in form and detail can be made therein without departing from or exceeding the spirit and scope of the application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the scope of the present application.

Claims

1. A vibration damping system, characterized by, The damping system comprises: a first flange (1); a second flange (2) arranged in a spaced manner with the first flange (1); a spring damping assembly, the first end of which is connected to the first flange (1), and the second end of which is connected to the second flange (2); a hydraulic damping assembly, which comprises a hydraulic telescopic rod (3) and a hydraulic station (4), the hydraulic station (4) is connected to the hydraulic telescopic rod (3), the first end of the hydraulic telescopic rod (3) is connected to the first flange (1), and the second end of the hydraulic telescopic rod (3) is connected to the second flange (2).

2. The vibration damping system of claim 1, wherein The spring damping assembly comprises a plurality of damping springs (5), the plurality of damping springs (5) are arranged in a spaced manner along the circumference of the first flange (1), and the plurality of hydraulic telescopic rods (3) are arranged in a spaced manner along the circumference of the first flange (1).

3. The vibration reduction system of claim 2, wherein, The plurality of damping springs (5) are arranged in a circular shape, the plurality of hydraulic telescopic rods (3) are arranged in a circular shape, and the centers of the circular shapes of the damping springs (5) and the hydraulic telescopic rods (3) coincide.

4. The vibration reduction system of claim 3, wherein, The damping springs (5) and the hydraulic telescopic rods (3) are staggered arranged along the circumference of the first flange (1).

5. The vibration reduction system of claim 3, wherein, The hydraulic telescopic rod (3) is located on the outer circumferential side of the damping spring (5).

6. The vibration reduction system of any one of claims 1 to 5, wherein, The damping system further comprises a control assembly, the control assembly is electrically connected to the hydraulic station (4) and can actively control the extension and contraction of the hydraulic telescopic rod (3).

7. The vibration reduction system of claim 6, wherein, The control assembly comprises a control unit (6), a servo valve, a displacement sensor (7), a six-degree-of-freedom detector (8), a wave radar (9) and a flowmeter (10), the control unit (6) is respectively connected to the servo valve, the hydraulic station (4), the displacement sensor (7), the six-degree-of-freedom detector (8), the wave radar (9) and the flowmeter (10) in communication, and actively controls the extension and contraction of the hydraulic telescopic rod (3) through the hydraulic station (4) and the servo valve according to the detection data of the displacement sensor (7), the six-degree-of-freedom detector (8), the wave radar (9) and the flowmeter (10).

8. The vibration reduction system of any one of claims 1 to 5, wherein, The first flange (1) is located on the upper side of the second flange (2), the hydraulic telescopic rod (3) is rigidly connected to the first flange (1), and forms a spherical hinge with the second flange (2).

9. The vibration reduction system of any one of claims 2-5, wherein, The first flange (1) is located on the upper side of the second flange (2), the damping spring (5) comprises a plurality of disc spring groups (11) and guide rods (12), the guide rods (12) are arranged in a one-to-one correspondence with the disc spring groups (11), the guide rods (12) are arranged in the center holes of the disc spring groups (11), the first end of the guide rod (12) is fixedly connected to the second flange (2), the second end of the guide rod (12) passes through the first flange (1) and can slide relative to the first flange (1), one end of the guide rod (12) that passes through the first flange (1) is provided with a limiting structure, and the limiting structure limits the sliding position of the guide rod (12) relative to the first flange (1).

10. The vibration reduction system of claim 9, wherein, The first flange (1) is provided with a counterbore on the side away from the second flange (2), and a self-lubricating bushing (13) is embedded in the counterbore, and the guide rod (12) is installed in the self-lubricating bushing (13).

11. A vibration damping system according to any one of claims 2 to 5, characterized in that The diameter of the circle where the top ends of the plurality of hydraulic telescopic rods (3) are located is smaller than the diameter of the circle where the bottom ends are located.

12. The vibration reduction system of claim 2, wherein, The damping spring (5) assembly can independently bear 70%-80% of the design static load and 45%-55% of the design dynamic load, and maintain 80%-85% of the connection stiffness design value of the first flange (1) and the second flange (2).

13. A floating wind turbine, characterized by The damping system of any one of claims 1-12 is connected between the tower cylinder (14) and the foundation column (15), the first flange (1) of the damping system is arranged at the bottom of the tower cylinder (14) and fixedly connected with the tower cylinder (14), and the second flange (2) of the damping system is arranged at the top of the foundation column (15) and fixedly connected with the foundation column (15).

14. The floating wind turbine of claim 13, wherein, When the damping system comprises a displacement sensor (7) and a six-degree-of-freedom detector (8), the displacement sensor (7) is arranged at the top of the tower cylinder (14), and the six-degree-of-freedom detector (8) is arranged at the top of the tower cylinder (14) and the center of gravity of the foundation column (15).

15. A vibration control method for the vibration system according to claim 6 or 7, characterized by, The method comprises: obtaining a sea state parameter; selecting a damping mode of a damping system according to the sea state parameter; The damping mode of the damping system comprises a passive damping mode, a full-active compensation mode, and a survival posture maintaining mode.

16. The vibration control method according to claim 15, characterized by, The step of selecting a damping mode of a damping system according to a sea state parameter comprises: When it is detected that the significant wave height Hs<am, the damping system is controlled to switch to the passive damping mode, and the hydraulic telescopic rod (3) provides constant damping; When it is detected that am≤Hs<bm, the damping system is controlled to switch to the full-active compensation mode, the optimal force and torque of the hydraulic telescopic rod (3) are calculated, and the extension length of the hydraulic telescopic rod (3) is adjusted according to the calculation result; When it is detected that Hs≥bm or the hydraulic pressure is lost, the damping system is controlled to switch to the survival posture maintaining mode, the hydraulic telescopic rod (3) is controlled to lock the current length, and the passive support is provided by the spring damping assembly.

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