Wave energy wave-absorbing floating body structure based on rigid blade and flexible bag buoyancy combined regulation and control and control method of wave energy wave-absorbing floating body structure

Abstract

The invention provides a wave-absorbing floating body structure based on rigid blade and flexible bag buoyancy combined regulation and control and a control method for an oscillation type wave energy conversion device, and relates to the technical field of ocean wave energy power generation. The wave-absorbing floating body specifically comprises a supporting frame, rigid blades, a blade rotating module, a flexible bag body, an elastic module, a ballast water module, an air pump module and other structural components. In order to overcome the defects of a traditional rigid design method of the wave-absorbing floating body, a variable rigid control surface shape is provided, and an internal cabin is replaced by a flexible capsule body, so that buoyancy is provided for the wave-absorbing floating body. According to the structural design, through combined control over the rigid control surface and the flexible bag body, the inherent period and the motion amplitude of the wave absorbing floating body can be effectively adjusted, the wave energy capturing efficiency under the power generation sea condition is improved, and the efficient energy capturing bandwidth is expanded. In addition, under the extreme sea condition, the structural design can change the borne wave load by adjusting the wave-facing area of the wave-absorbing floating body, and the structural strength safety of the wave-absorbing floating body is ensured.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of wave energy generation, and relates to the wave-absorbing float structure design and motion control of an oscillating body type wave energy conversion device, in particular to a wave-absorbing float structure based on rigid blade and flexible bag buoyancy joint regulation and control and a control method thereof, which is used for realizing efficient wave energy capture and safe operation of the device under random wave power generation sea conditions and extreme sea conditions. BACKGROUND

[0002] Wave energy is a kind of marine renewable energy with high energy density and good predictability. With the increase of offshore and far sea engineering activities, how to utilize local wave energy to realize island power supply, offshore platform power supply and offshore observation equipment power supply has become an important application scenario of wave energy generation technology. According to different working principles, traditional wave energy generation technology can be roughly divided into three types: oscillating water column type, oscillating body type and overtopping type. Among them, the wave-absorbing float of the oscillating body type wave energy conversion device can resonate with the wave, and the theoretical capture efficiency can exceed 100%, which is a research hotspot of wave energy generation technology. One of the core components of the oscillating body type wave energy conversion device is the wave-absorbing float, and its hydrodynamic characteristics directly determine the wave energy capture efficiency, and its structural safety is directly related to the service life of the device.

[0003] The existing wave-absorbing float is mostly made of rigid materials, and the float shape is fixed after manufacturing and cannot be changed in real sea condition operation. The rigid shape brings two problems. On the one hand, under random waves in real sea conditions, the shape of the wave-absorbing float cannot change with the change of the wave excitation frequency (or wave period), resulting in low capture efficiency of the oscillating body type wave energy conversion device in real sea conditions. On the other hand, under extreme sea conditions, the rigid wave-absorbing float faces extreme wave loads, and even after taking overall avoidance measures, it will still bear considerable wave loads, so the wave-absorbing float is prone to yield failure and fatigue fracture, which poses a great threat to the safety of the device.

[0004] In view of the low capture efficiency of the oscillating body type wave energy conversion device under random waves in actual sea conditions, the prior art mainly improves the capture performance by optimizing the shape of the floating body in the design stage, adjusting the damping of the power output mechanism in the operation stage, and adopting advanced control strategies. For example, the shape is optimized to improve the added mass and radiation damping characteristics; a adjustable power absorption mechanism is used to adjust the damping according to the wave; and methods such as lock control, reaction control and model predictive control are used to adjust the phase and speed of the oscillating body to improve the adaptability of the device to a specific frequency band. However, the above methods are mostly indirect adjustments through dynamic boundary conditions or control algorithms while keeping the overall shape and structural parameters of the wave-absorbing floating body basically unchanged, and their influence on the hydrodynamic characteristics of the floating body is limited. When the sea conditions deviate from the design conditions, the capture efficiency will still decrease significantly. In addition, some existing technologies also use ballast adjustment or internal moving mass to change the natural period of the wave-absorbing floating body, such as using water tank filling and draining to change the total mass and draft of the floating body, or using additional mass blocks such as sliders and pendulums to change the mass distribution to achieve a certain degree of tuning or steady adjustment. However, such schemes often have limited adjustment freedom, limited response speed, and difficulty in simultaneously considering the energy capture performance of multi-degree-of-freedom oscillating bodies under different working conditions and the safety of extreme sea conditions, and the engineering implementation complexity and maintenance cost also increase.

[0005] Therefore, the traditional rigid design of the wave-absorbing floating body cannot meet the demand of the oscillating body type wave energy conversion device for efficient, long-term and stable power generation, and it is necessary to propose a new type of wave-absorbing floating body structure and control method for the oscillating body type wave energy conversion device to improve the power generation efficiency of the oscillating body type wave energy conversion device under random waves and realize effective unloading of wave loads under extreme sea conditions to ensure the safety of the device. SUMMARY

[0006] (I) Invention purposes The present application aims to provide a wave energy absorbing float structure based on rigid blade and flexible capsule buoyancy joint regulation and a control method thereof, to solve the problems of low capture efficiency, narrow high-efficiency bandwidth and poor survivability in extreme sea conditions caused by fixed shape and parameters of rigid wave-absorbing float in existing oscillating body type wave energy generation technology. The rigid-flexible hybrid wave-absorbing float is composed of a rigid blade control surface with adjustable opening degree and an internal multi-unit flexible capsule buoyancy module. The rigid control surface composed of a series of rotatable rigid blades replaces the traditional rigid shell of the wave-absorbing float to form a new variable outer surface. The flexible capsule arranged inside the support frame provides buoyancy for the wave-absorbing float. The rigid control surface can bear most of the wave load, physically protect the internal flexible capsule, and help reduce the long-term exposure of the flexible capsule material to light, thereby effectively prolonging its service life. In addition, by jointly adjusting the rigid blade posture, the volume distribution of water and gas in the flexible capsule, and the overall mass and moment of inertia characteristics under different wave conditions, the matching of the inherent period, the wave-approaching shape and the wave load of the wave-absorbing float is realized, thereby improving the capture efficiency in a wider frequency range, significantly reducing the structural stress and fatigue damage risk in extreme sea conditions, and balancing the power generation performance and long-term service safety of the device.

[0007] (II) Technical solutions To achieve the object of the present application and solve the technical problems, the present application adopts the following technical solutions: The first object of the present application is to provide a wave energy absorbing float structure based on rigid blade and flexible capsule buoyancy joint regulation, which is used in an oscillating body type wave energy conversion device to realize the coordinated control of variable wave-approaching area and adjustable buoyancy, so as to improve the wave energy capture efficiency in power generation sea conditions and reduce the wave load in extreme sea conditions. The structure at least includes the following components: The support frame is a rigid structure configured to bear and connect the functional components of the wave-absorbing float, and is coupled to the energy conversion system as a whole to transfer the movement of the wave-absorbing float under wave excitation; The rigid blade assembly includes a plurality of rigid blades arranged on the outer side of the support frame. Each rigid blade is connected to the support frame in a controlled rotatable manner through the blade rotation module arranged at the end of each rigid blade, and forms a rigid control surface with adjustable opening around the support frame under the control of the drive. By adjusting the rotation angle of the rigid blade, the hydrodynamic shape and effective wave-approaching area of the wave-absorbing float are changed; The flexible capsule buoyancy assembly includes a plurality of hollow flexible capsules arranged in the space surrounded by the support frame and the rigid control surface and fixed relative to the support frame, and an elastic module arranged between each adjacent flexible capsule to transfer the interaction force when the volume of each flexible capsule changes. The upper end of each hollow flexible capsule is in communication with the gas regulation module, and the lower end is in communication with the ballast water regulation module. By injecting or discharging water and gas, the volume distribution of the medium in the flexible capsule is changed and adjustable buoyancy is provided.

[0008] The second inventive objective of the present application is to provide an oscillating body type wave energy conversion device comprising the above-mentioned wave energy absorbing floating body structure based on the combined regulation of rigid blade and flexible bag buoyancy.

[0009] The third inventive objective of the present application is to provide a control method for the above-mentioned wave energy absorbing floating body structure based on the combined regulation of rigid blade and flexible bag buoyancy, at least comprising the following steps: SS1. Working condition monitoring and identification: real-time monitoring of current sea state parameters and absorbing floating body operating state, and determining the current operating condition type according to the preset working condition identification criteria, including different sub-conditions in the towing or operation condition, self-protection condition and power generation condition; SS2. Towing or operation condition control: when it is determined to be the towing or operation condition, the gas adjusting module is used to fill gas into each flexible bag body, and the ballast water adjusting module is used to discharge all or part of the ballast water in each flexible bag body, so that the draft of the absorbing floating body is reduced and the absorbing floating body is floated to the predetermined position; SS3. Self-protection and cut-out condition control: when it is determined to be the self-protection condition or the wave height reaches the cut-out wave height, each rigid blade is rotated to the maximum angle to completely open the rigid control surface, and the ballast water adjusting module and the gas adjusting module are used to empty the ballast water and gas in each flexible bag body, so that the wave penetrates between the blade gap and the flexible bag body to reduce the wave load borne by the absorbing floating body; SS4. Normal control in power generation condition: when the wave height increases but is lower than the cut-out threshold and the motion and force of the absorbing floating body are within the set safety range in the power generation condition, the current opening degree of the rigid blade and the water-gas volume distribution in the flexible bag body are kept unchanged to maintain stable power generation; SS5. Motion over-limit control in power generation condition: when the wave height increases but is lower than the cut-out threshold and the motion of the absorbing floating body exceeds the set safety range in the power generation condition, the ballast water adjusting module and the gas adjusting module are used to jointly adjust the water-gas volume distribution in each flexible bag body to increase the total mass of the absorbing floating body and reduce the response amplitude, or adjust the circumferential mass distribution to increase the rotational inertia of the absorbing floating body and reduce the rotational motion amplitude; SS6. Force over-limit control in power generation condition: when the wave height increases but is lower than the cut-out threshold and the force of the absorbing floating body exceeds the set safety range in the power generation condition, the rigid blade is driven to rotate to a set intermediate angle to partially open the rigid control surface, thereby reducing the effective wave-encountering area of the absorbing floating body and the excitation force; SS7. Period increasing control in power generation condition: when the actual sea state wave period increases in the power generation condition, the ballast water adjusting module and the gas adjusting module inject ballast water and exhaust gas into each flexible bag to increase the displacement, total mass and inertia moment of the wave-absorbing float, so that the natural period of the wave-absorbing float approaches the dominant period of the wave and the motion amplitude is suppressed; when the actual sea state wave period decreases in the power generation condition, the inverse operation of the method can be taken.

[0010] (Three) Technical effects Compared with the prior art, the wave energy wave-absorbing float structure and control method based on the combined regulation of rigid blades and flexible bag buoyancy have the following beneficial and significant technical effects: (1) The present application realizes the coordinated regulation of the wave-absorbing float's wave-approaching shape, total mass and mass distribution by arranging adjustable rigid blade assemblies on the outer periphery of the support frame and configuring a buoyancy system composed of flexible bags, ballast water and gas adjusting modules inside the support frame, which helps to adjust the natural period and motion of the wave-absorbing float in the power generation condition, thereby improving the wave energy capture efficiency and expanding the high-efficiency capture bandwidth.

[0011] (2) The present application sets self-protection condition and cut-out condition control strategies, which rotate the rigid blades to the maximum opening and empty the water and gas in the flexible bags under extreme or over-limit wave height conditions, so that the flexible bags shrink to the smallest volume, and the incident wave mainly penetrates through the gap between the rigid control surface and the flexible bags, which helps to significantly reduce the wave-absorbing float's wave-approaching area and wave load in extreme sea conditions, thereby improving the safety of the device.

[0012] (3) The present application sets corresponding joint regulation steps for towing or operation condition, conventional power generation condition, motion over-limit condition, stress over-limit condition and wave period change condition, respectively, and uses flexible bag water-gas volume distribution and rigid blade opening adjustment to realize the separate type suppression of linear motion and rotational motion and the hierarchical management of structural load, so that the wave-absorbing float can work under safety constraints in different sea conditions and operation stages, taking into account the energy conversion performance, structural safety and operation and maintenance convenience. The variable design and control method of the wave-absorbing float proposed in the present application is not limited to a specific wave-absorbing float shape and can be widely applied to oscillating body type wave energy conversion devices, which is simple to manufacture and control and has promotional value. BRIEF DESCRIPTION OF DRAWINGS

[0013] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0014] Figure 1 A schematic diagram of an irregularly shaped radar-absorbing float (eagle-type radar-absorbing float); Figure 2 To be Figure 1 A schematic diagram of the structure of the mid-mounted wave-absorbing float behind the hidden rigid blades; Figure 3 A schematic diagram of a regularly shaped wave-absorbing float (cylinder); Figure 4 To be Figure 3 A schematic diagram of the structure of the mid-mounted wave-absorbing float behind the hidden rigid blades; Figure 5 This is a flowchart of the control method for wave-absorbing floating structures.

[0015] Explanation of reference numerals in the attached diagram: 1. Support frame; 2. Rigid blade; 3. Flexible capsule; 4. Elastic module. Detailed Implementation

[0016] This invention aims to provide a wave-absorbing float structure and its control method based on the adaptive joint control of rigid blades and flexible bladder buoyancy. This structure is used in oscillating wave energy conversion devices to achieve coordinated control of variable wave-facing area and adjustable buoyancy, thereby improving wave energy capture efficiency and reducing wave loads under extreme sea conditions. To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions in the embodiments of this invention will be described in more detail below with reference to the accompanying drawings. The described embodiments are some, but not all, embodiments of this invention, and are exemplary, intended to explain the invention, and should not be construed as limiting the invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0017] Example 1: Wave Energy Absorbing Floating Body Structure As a specific example, such as Figures 1-4 As shown, the wave energy absorbing float structure based on the combined buoyancy control of rigid blades and flexible bladders provided in this embodiment of the invention is applicable to any oscillating wave energy conversion device. This wave energy absorbing float structure mainly consists of the following structural components ( Figure 1 This is a schematic diagram of an irregularly shaped wave-absorbing float structure. Figure 3 (Schematic diagram of a regularly shaped wave-absorbing float structure) The support frame 1 is constructed as a rigid structure that supports and connects the functional components of the wave-absorbing float, and it is coupled to the energy conversion system as a whole. The overall motion of the support frame 1 under wave excitation will drive the energy conversion system to do work, converting wave energy into mechanical energy such as hydraulic energy and impeller kinetic energy, or directly into electrical energy (when a linear generator is used).

[0018] The rigid blade assembly comprises rigid blades and blade rotating modules, wherein: each rigid blade 2 is uniformly covered on the support frame 1, both ends of each rigid blade 2 are connected with the support frame 1 in a controlled rotatable manner through the corresponding blade rotating modules, and form a rigid control surface with adjustable opening degree around the support frame under the control of the drive. The blade arrangement direction is vertically or horizontally arranged according to the wave-absorbing float shape, and the water dynamic shape and effective wave-encountering area of the wave-absorbing float are changed by adjusting the rotation angle of the rigid blade. The blade rotating module comprises a blade rotating mechanism and a drive motor, the blade rotating mechanism is multiple, located inside the support frame, connected with the end of the rigid blade 2, and used for changing the blade angle. The drive motor is located inside the platform, and is used for providing driving torque power for the blade rotating mechanism. Each blade rotating mechanism is used for driving the corresponding rigid blade 2 to rotate around the rotating shaft under the centralized drive or grouped drive of the motor, realizing synchronous rotation of all rigid blades 2 or independent rotation of each rigid blade, so that the opening and closing degree of the rigid control surface can be flexibly controlled according to the actual sea conditions and operation conditions.

[0019] The flexible bag buoyancy assembly comprises flexible bag bodies 3, elastic modules 4, ballast water modules and gas adjusting modules, wherein: the flexible bag bodies 3 are multiple, independent of each other, and are all wrapped by the space surrounded by the support frame and the rigid control surface, and the whole is vertically arranged. The upper and lower ends of each flexible bag body 3 are respectively connected with the support frame 1, wherein the upper end is connected with the gas adjusting module, and the lower end is connected with the ballast water module. According to actual needs, gas or ballast water can be injected or discharged into each flexible bag body 3, and the volume distribution of the medium in the flexible bag body 3 is changed and adjustable buoyancy is provided through the injection or discharge of the ballast water and the gas. In the flexible bag buoyancy assembly of the present application, the elastic module 4 adopts a spring or other elastic structure, and is located between each flexible bag body 3, and is used for uniformly transmitting the interaction force between the flexible bag bodies 3 to the support frame 1. When the flexible bag bodies 3 are all empty, the elastic module 4 is in a relaxed state.

[0020] In the flexible bladder buoyancy assembly of this invention, the ballast water module includes a bidirectional water pump, ballast water pipelines, and solenoid valves. The water pump is located inside the platform and connected to the lower end of the flexible bladder 3 via the ballast water pipelines. Multiple solenoid valves are located in each ballast water pipeline and work in conjunction with the bidirectional water pump to inject or discharge ballast water (external seawater can be used) into the flexible bladder 3, thereby adjusting the total mass and mass distribution of the wave-absorbing float. The air pump module includes a bidirectional air pump, gas pipelines, solenoid valves, and an air chamber. The air pump is located inside the platform and connected to the upper end of the flexible bladder 3 via gas pipelines. Multiple solenoid valves are located in each gas pipeline and work in conjunction with the bidirectional air pump to control the injection or discharge of gas into the flexible bladder, thereby achieving rapid adjustment of the gas pressure and gas volume distribution inside the flexible bladder. This, together with the ballast water adjustment module, enables adaptive adjustment of the buoyancy characteristics of the wave-absorbing float.

[0021] The working principle of the wave energy absorbing float structure of the present invention is as follows: the wave-facing area of ​​the absorbing float is adjusted by using a rigid control surface, and the inherent lower stiffness of the flexible bladder is used to broaden the efficient capture bandwidth of the absorbing float. Then, by jointly controlling the rigid control surface and the flexible bladder, the natural period and motion amplitude of the absorbing float are adjusted, thereby improving the wave energy capture efficiency under power generation sea conditions and reducing the wave load on the absorbing float under extreme sea conditions, thus improving the structural strength and safety.

[0022] Preferably, the support frame 1 has an irregular overall shape (such as...). Figure 1 (as shown) or regular shape structure (such as) Figure 3 As shown, rigid blades 2 are uniformly arranged along the outer surface of the support frame 1. In regular cylindrical structures, rigid blades 2 are arranged vertically along the axial direction. In irregular biomimetic structures, rigid blades 2 are arranged vertically or horizontally depending on the local shape. This allows wave-absorbing floats of different shapes to control their wave-facing shape and hydrodynamic characteristics by varying the opening of the rigid blades, improving the applicability of the device under different design schemes. Furthermore, the span of the support frame 1 (same as the length of the rigid blades 2) must be sufficient to allow the rigid blades 2 to withstand wave loads under extreme sea conditions. If the length of the rigid blades 2 is very large and exceeds a preset threshold, additional crossbeams or reinforcing ribs can be added in the middle of the frame to divide the long blades into several segments, preventing buckling, fatigue, or fracture of the blades or frame under extreme sea conditions, and avoiding breakage by waves. Additionally, the dimensions of the support frame 1 must be able to withstand structural loads under extreme sea conditions and provide sufficient space for the rotating mechanism and ballast water module.

[0023] The rotation angle of the rigid blade 2 in the rigid blade assembly can be designed as synchronous rotation of all blades (i.e., the rotation angle of each blade is the same), or can be designed as independent rotation of each rigid blade 2, so that the rotation angles of the blades are different, and the regulation is more flexible. As preferred, the rotation of each rigid blade 2 includes a synchronous control mode and an independent control mode: in the synchronous control mode, the overall opening adjustment is realized by the same angle trajectory of each rigid blade 2 to quickly change the overall wave-encountering area of the wave-absorbing float; in the independent control mode, the rotation angle of each rigid blade 2 is set according to the wave direction, wave frequency and local force feedback, so as to realize fine adjustment of the hydrodynamic coefficient of the wave-absorbing float, and adapt to non-uniform wave field and directional sea conditions.

[0024] In addition, each rigid blade 2 is continuously adjustable between the minimum closing angle and the maximum opening angle under the control and driving of the corresponding blade rotation module. When all the rigid blades 2 are rotated to the minimum angle, the rigid control surface is completely closed, and at this time the effective wave-encountering area of the wave-absorbing float reaches the maximum value; when all the rigid blades 2 are rotated to the maximum angle, the rigid control surface is completely opened, and at this time the wave can penetrate through the gap between the adjacent rigid blades and the contracted hollow flexible capsule, so that the wave excitation force borne by the wave-absorbing float is significantly reduced and the survival ability of the structure under extreme load is improved.

[0025] Further, the cross-sectional shape of the wave-encountering side of the rigid blade 2 acting on the wave is not limited to a rectangular shape, but can also be an elliptical shape or other non-circular cross-sectional shape with smooth transition of flow lines, so as to reduce the resistance caused by separation vortex and structural vibration. The width of each rigid blade 2 is not limited to uniform width, but can also be designed as non-uniform width. It can be predicted that if the wave-encountering surface adopts non-uniform blade width design, even if the rotation angles of all blades are the same, the hydrodynamic coefficient of the wave-absorbing float can still be changed by a specific percentage, so as to improve the controllability of the wave action force and radiation damping, and the non-uniform width is arranged according to a preset function or segmented linear change and is linked with the independent rotation control of the rigid blade, so as to obtain a larger adjustable range of hydrodynamic parameters without increasing the driving complexity, and improve the frequency domain matching and bandwidth expansion capability. The flexible capsule has moderate elasticity and certain deformation ability, i.e., it deforms under the action of internal ballast water or gas pressure, but does not deform greatly under the action of external wave.

[0026] In the flexible capsule buoyancy assembly of the embodiment of the present application, as Figure 2 , 4As shown, a plurality of hollow flexible capsules 3 are arranged in the rigid control surface inner space in a mutually independent vertical arrangement, with their axes substantially parallel to the gravity direction of the wave-absorbing float, and the upper and lower ends of each hollow flexible capsule 3 are fixedly connected to the upper and lower parts of the support frame 1 through flexible transition connection structures, which can adapt to the volume changes of the hollow flexible capsules during inflation or water filling, allowing limited displacement and angular compensation while maintaining the sealing and carrying of the flexible capsules.

[0027] As a preferred embodiment, each flexible capsule 3 is made of a flexible material with a moderate elastic modulus, which can change shape under the action of internal ballast water or gas pressure and remain stable under the action of external wave loads, and the outer surface can be covered with a fiber woven layer or other tensile structure, which helps to suppress non-ideal deformation of the flexible capsule cross section and helps the internal force of the flexible capsule to be transmitted to the support frame 1 in the axial direction, improving the stress state of the capsule, reducing local stress concentration and improving fatigue life and operational reliability. In addition, the plurality of flexible capsules 3 are preferably divided into at least two or more groups in different directions along the circumference of the wave-absorbing float, and each group of flexible capsules is connected to the corresponding valve group through independent ballast water pipeline loops and gas pipeline loops, so that different groups of flexible capsules in different directions can be subjected to differentiated water filling and water emptying and gas regulation in the control strategy, so that the overall mass is adjusted by each group of flexible capsules in a linear motion dominated working condition, and the moment of inertia distribution is changed by the differentiated adjustment of the mass of flexible capsules in different directions in a rotational motion dominated working condition, to suppress the motion amplitude of each degree of freedom.

[0028] As a preferred embodiment, as shown in Figure 2 、 4 The elastic module 4 is a spring or other elastic structure with elastic recovery characteristics and is arranged between each adjacent flexible capsule 3 along the circumference of the wave-absorbing float, and each elastic module 4 produces a corresponding elastic deformation when the flexible capsule 3 changes in volume due to the filling or emptying of the ballast water or gas, to uniformly transmit the interaction force between each flexible capsule 3 to the support frame 1. When the internal medium of each flexible capsule 3 is substantially empty, the elastic module 4 is in a relaxed state close to no pre-stress, to reduce the additional load borne by the rigid control surface and the flexible capsules in self-protection or cut-out working conditions; and the elastic modulus and pre-tightening force of the elastic module 4 are parameterized designed according to the target sea conditions and the capsule arrangement spacing, to obtain a coupled stiffness that takes into account both response tuning and extreme unloading.

[0029] It should be noted that in this embodiment 1, by setting an adjustable rigid blade assembly on the outside of the support frame and introducing a buoyancy system inside consisting of multiple flexible bladders, elastic modules, and ballast water and gas adjustment modules, the wave-facing area, the total mass of the wave-absorbing float, and its mass distribution can be adjusted in a coordinated manner. Specifically, the synchronous and independent rotation control modes of the rigid blades allow the wave-absorbing float to achieve more precise hydrodynamic coefficient adjustment for different wave directions and non-uniform wave fields; the circumferential grouping and differentiated inflation and deflation adjustment of the flexible bladders allow the wave-absorbing float to independently control the moment of inertia distribution while adjusting the total mass, achieving decoupled control of linear motion and rotational motion.

[0030] Example 2: Wave Energy Absorbing Floating Body Structure Control Method Based on Embodiment 1 above, Embodiment 2 further provides a control method for the aforementioned wave energy absorbing floating structure, such as... Figure 5 As shown, the method mainly includes the following steps when implemented: First, the system monitors current sea state parameters and the operating status of the wave-absorbing float in real time. Based on preset operating condition criteria, it determines the current operating condition type, including different sub-conditions under towing or maintenance, self-protection, and power generation conditions. Preferably, wave height, wave period, dominant frequency, and wave direction are acquired through a wave monitoring system, while displacement, velocity, acceleration, and stress or strain values ​​of key structural components of the wave-absorbing float are acquired through a wave-absorbing float monitoring system. These values ​​are then compared with preset thresholds for shear wave height, motion safety, and stress safety. Based on the comparison results and the operating status of the energy conversion system, the monitoring and identification of each operating condition are completed.

[0031] Secondly, based on the classification of the device's operating conditions, corresponding rigid blade rotation angle adjustment strategies and flexible bladder water-air distribution adjustment strategies are implemented for different operating conditions to achieve precise matching between the hydrodynamic characteristics of the wave-absorbing float and the current sea state and operational requirements, as detailed below: (1) Towing or maintenance operation: Open all solenoid valves in the ballast water pipeline, start the water pump, and drain all or part of the ballast water from each flexible bladder (according to the actual draft requirements). Then, turn off the water pump and close the solenoid valves in the ballast water pipeline. Next, open the solenoid valve in the gas pipeline, start the air pump, and inflate each flexible bladder (the inflation amount depends on the actual draft requirements). Then, turn off the air pump and close the solenoid valve in the gas pipeline. Finally, the wave-absorbing float will rise to the designated position.

[0032] (2) Self-protection condition: under the premise that the back-end energy conversion system has stopped working, the motor is started, the blade rotating mechanism starts to work, and the rotating blades are rotated to the maximum angle to fully open the rigid control surface. After reaching the maximum angle, the motor is turned off. Then, the ballast water pipeline electromagnetic valve is opened, and the water pump is started to completely discharge the ballast water in each flexible capsule, the water pump is turned off, and the ballast water pipeline electromagnetic valve is turned off. The gas pipeline electromagnetic valve is opened, the gas pump is started to completely discharge the gas in each flexible capsule, the gas pump is turned off, and the gas pipeline electromagnetic valve is turned off. Finally, each flexible capsule is shrunk to the minimum volume, the spring is in a relaxed state, and the wave can penetrate between the opened rigid control surface and each flexible capsule to reduce the wave load borne.

[0033] (3) Under the power generation condition, when the wave height detected reaches or exceeds the cut-out wave height: the operation is the same as the self-protection condition. First, the back-end energy conversion system is shut down, the motor is started, the blade rotating mechanism starts to work, and the rotating blades are rotated to the maximum angle to fully open the rigid control surface. After reaching the maximum angle, the motor is turned off. Then, the ballast water pipeline electromagnetic valve is opened, and the water pump is started to completely discharge the ballast water in each flexible capsule, the water pump is turned off, and the ballast water pipeline electromagnetic valve is turned off. The gas pipeline electromagnetic valve is opened, the gas pump is started to completely discharge the gas in each flexible capsule, the gas pump is turned off, and the gas pipeline electromagnetic valve is turned off. Finally, each flexible capsule is shrunk to the minimum volume, the spring is in a relaxed state, and the wave can penetrate between the opened rigid control surface and each flexible capsule.

[0034] (4) Normal control under the power generation condition: under the power generation condition, when the wave height detected increases and does not reach the cut-out wave height, and the motion and force of the wave-absorbing float are detected to be within the normal range, the current opening degree of the rigid blade and the water-gas volume distribution in the flexible capsule are kept unchanged, and the power generation is continued.

[0035] (5) Under the power generation condition, when the wave height detected increases and does not reach the cut-out wave height, but the motion of the wave-absorbing float is detected to be too large and exceeds the set safety range value, the water-gas volume distribution in each flexible capsule is adjusted by the ballast water adjustment module and the gas adjustment module to increase the total mass of the wave-absorbing float and reduce the response amplitude, or the circumferential mass distribution is adjusted to increase the rotational inertia of the wave-absorbing float and reduce the rotational motion amplitude: For the wave-absorbing float mainly in linear motion (surge, sway, and heave), the mass of the wave-absorbing float is increased: the gas pipeline electromagnetic valve is opened, the gas pump is started to partially discharge the gas in each flexible capsule (the amount of gas discharged is according to the current set value), the gas pump is turned off, and the gas pipeline electromagnetic valve is turned off. Then, the ballast water pipeline electromagnetic valve is opened, the water pump is started to inject ballast water into each flexible capsule (according to the current set value), the water pump is turned off, and the ballast water pipeline electromagnetic valve is turned off. Finally, the total mass of the wave-absorbing float is increased, the motion amplitude is reduced, and the wave-absorbing float returns to the safety range to continue power generation; For the wave-absorbing float mainly in rotational motion (pitching, rolling, yawing), the ballast water distribution is adjusted, that is, by adjusting the ballast water distribution, the rotational inertia of the wave-absorbing float is increased, and the rotational motion amplitude is reduced: for the flexible capsules that need to reduce the mass, the corresponding ballast water pipeline electromagnetic valve is opened, the water pump is started, the ballast water is discharged, after the target mass of each flexible capsule is reached, the water pump is closed, the ballast water pipeline electromagnetic valve is closed, and the corresponding gas pipeline electromagnetic valve is opened, the gas pump is started, and the gas is filled into the flexible capsule, the gas pump is closed, and the gas pipeline electromagnetic valve is closed. Then, for the flexible capsules that need to increase the mass, the corresponding gas pipeline electromagnetic valve is opened, the gas pump is started, the gas is extracted, the gas pump is closed, the gas pipeline electromagnetic valve is closed, and the corresponding ballast water pipeline electromagnetic valve is opened, the water pump is started, and the ballast water is filled into the flexible capsule, after the target mass of each flexible capsule is reached, the water pump is closed, and the ballast water pipeline electromagnetic valve is closed.

[0036] (6) In the power generation working condition, the wave height is detected to increase, although it does not reach the cut-out wave height, but it is detected that the stress of the wave-absorbing float is too large and exceeds the set safety range value: the motor is started, the blade rotating mechanism starts to work, the rigid blades are rotated to a certain set angle, and the rigid control surface is partially opened. After reaching the set angle, the motor is closed. Finally, the wave-absorbing float reduces the wave-impingement area, and part of the waves will pass through the gaps between the blades of the rigid control surface, and the wave-absorbing float reduces the wave excitation force.

[0037] (7) In the power generation working condition, the wave period is detected to increase: the gas pipeline electromagnetic valve is opened, the gas pump is started, the gas in each flexible capsule is discharged (the amount of exhaust gas is according to the current set value), the gas pump is closed, and the gas pipeline electromagnetic valve is closed. Then, the ballast water pipeline electromagnetic valve is opened, the water pump is started, and the ballast water is injected into each flexible capsule (according to the current set value), the water pump is closed, and the ballast water pipeline electromagnetic valve is closed. Finally, the total mass and inertia moment of the wave-absorbing float increase, the natural period of the wave-absorbing float approaches the dominant period of the waves, the motion amplitude decreases, returns to the safety range, and continues to generate electricity. When the actual sea state wave period decreases in the power generation working condition, the reverse operation is performed.

[0038] It should be noted that the control method established in this embodiment 2 automatically identifies the current running state of the device through the pre-set working condition discrimination criteria, and executes the corresponding control strategy for different working conditions: in the self-protection working condition, the wave penetration is realized by completely opening the rigid control surface and emptying the flexible capsules to maximize the reduction of the structural load; in the power generation working condition, the rigid blade opening degree and the water-gas distribution of the flexible capsules are dynamically adjusted according to the wave height, period change and motion, stress feedback, to realize the continuous tracking and matching of the natural period of the wave-absorbing float and the wave period. The closed-loop feedback control mechanism ensures that the wave energy device realizes the maximization of energy capture efficiency on the premise of ensuring the safety of the structure.

[0039] The objects of the present application are completely achieved by the above embodiments. Those skilled in the art can understand that the present application includes but is not limited to the content described in the drawings and the above specific embodiments. Although the present application has been described with respect to the presently preferred and most practical embodiments, it will be understood that the present application is not limited to the disclosed embodiments, and any modification not deviating from the functional and structural principles of the present application will be included in the scope of the claims.

Claims

1. A wave energy absorbing floating body structure based on the combined regulation of rigid blade and flexible bag buoyancy, characterized in that, At least comprising: a support frame configured to form a rigid structure to carry the functional components of the wave power absorption float, and coupled to the energy conversion system to transfer the motion of the wave power absorption float under wave excitation; a rigid vane assembly comprising a plurality of rigid vanes arranged on the outside of the support frame, each rigid vane being connected to the support frame in a controllable rotatable manner through a corresponding vane rotating module arranged at the end of the rigid vane, and forming an adjustable opening rigid control surface around the support frame under the control of the driving, and changing the hydrodynamic shape and effective wave-incident area of the wave power absorption float by adjusting the rotation angle of the rigid vane; a flexible bladder buoyancy assembly comprising a plurality of hollow flexible bladder bodies arranged in the space surrounded by the support frame and the rigid control surface and fixed relative to the support frame, and an elastic module arranged between each adjacent flexible bladder body and transmitting the interaction force when the volume of each flexible bladder body changes, and the upper end of each hollow flexible bladder body being in communication with a gas regulating module and the lower end being in communication with a ballast water regulating module, and the volume distribution of the medium in the flexible bladder body being changed by the injection or discharge of water and gas to provide adjustable buoyancy.

2. The wave power wave-absorbing floating body structure according to claim 1, characterized in that, In the rigid vane assembly, the vane rotating module comprises a vane rotating mechanism arranged inside the support frame and connected to the end of the rigid vane, and a motor providing driving torque power for the vane rotating mechanism, each vane rotating mechanism being used to drive the corresponding rigid vane to rotate around its rotating shaft under the centralized driving or grouped driving of the motor, to realize synchronous rotation of all rigid vanes or independent rotation of each rigid vane.

3. Wave energy absorbing floating body structure according to claim 1 or 2, characterized in that, In the rigid vane assembly, each rigid vane is continuously adjustable between the minimum closing angle and the maximum opening angle under the control of the corresponding vane rotating module, when all rigid vanes are rotated to the minimum angle, the rigid control surface is completely closed, at this time the effective wave-incident area of the wave power absorption float reaches the maximum value; when all rigid vanes are rotated to the maximum angle, the rigid control surface is completely opened, at this time the wave can penetrate through the gap between adjacent rigid vanes and the contracted hollow flexible bladder body.

4. The wave power wave-absorbing floating body structure according to claim 1, characterized in that, In the rigid vane assembly, the cross-sectional shape of the wave-incident side of each rigid vane is selected from rectangular, elliptical or other non-circular cross-sections with smooth transition of flow lines; and each rigid vane adopts uniform width or non-uniform width distribution in the length direction or width direction of the vane, when non-uniform width design is adopted, even if the rotation angles of all rigid vanes are the same, the hydrodynamic coefficients of the wave power absorption float can also be adjusted by the difference in vane width at different positions according to the predetermined proportion.

5. The wave power wave-absorbing floating body structure according to claim 1, characterized in that, In the rigid vane assembly, each rigid vane is arranged on the support frame according to the geometric characteristics of the shape of the wave power absorption float in the vertical direction or the horizontal direction, the span of the support frame matches the length of the rigid vane, when the length of the rigid vane exceeds a predetermined threshold, an intermediate beam or a reinforcing rib is arranged on the support frame, and the long vane is divided into several segments to prevent the vane or the frame from buckling, fatigue or breaking under extreme sea conditions.

6. The wave power wave-absorbing floating body structure according to claim 1, characterized in that, In the flexible bladder buoyancy assembly, multiple hollow flexible bladders are arranged independently and vertically within the internal space of the rigid control surface, with their axes basically parallel to the gravity direction of the wave-absorbing float. The upper and lower ends of each hollow flexible bladder are fixedly connected to the upper and lower parts of the support frame through a flexible transition connection structure. The transition connection structure can adapt to the volume changes of the hollow flexible bladder during the inflation or water filling process, allowing limited displacement and angle compensation while maintaining the sealing and load-bearing capacity of the flexible bladder.

7. The wave power wave-absorbing floating body structure according to claim 1, characterized in that, In the flexible bladder buoyancy assembly, each flexible bladder is made of a flexible material with a medium elastic modulus, which can change shape under the pressure of internal ballast water or gas and maintain overall stability under external wave load. Its outer surface is covered with a fiber braided layer or similar tension structure to suppress non-ideal deformation of the cross-section of the flexible bladder and to transfer the internal force borne by the flexible bladder to the support frame along the axial direction.

8. Wave energy absorbing floating body structure according to claim 1, 6 or 7, characterized in that, In the flexible bladder buoyancy assembly, multiple flexible bladders are arranged in at least two groups with different orientations along the circumference of the wave-absorbing float. Each group of flexible bladders is connected to a corresponding valve group through an independent ballast water pipeline circuit and a gas pipeline circuit. In the control strategy, the filling and emptying of water and gas are adjusted differently for the flexible bladder groups with different orientations. Thus, under the condition of linear motion, the overall mass is adjusted by the coordinated adjustment of each group of flexible bladders. Under the condition of rotational motion, the distribution of rotational inertia is changed by the differentiated adjustment of the mass of the flexible bladders with different orientations, so as to suppress the pitch, roll or yaw amplitude.

9. The wave power wave-absorbing floating body structure according to claim 1, characterized in that, In the flexible bladder buoyancy assembly, elastic modules are arranged circumferentially between adjacent flexible bladders along the wave-absorbing float. Each elastic module generates corresponding elastic deformation when the volume of the flexible bladder changes due to the filling and discharging of ballast water or gas, so as to provide uniform support and constraint force between the flexible bladders. When the internal medium of each flexible bladder is basically emptied, the elastic modules are in a relaxed state close to no prestress, so as to reduce the additional load on the rigid control surface and the flexible bladder under self-protection or cut-out conditions.

10. The wave power wave-absorbing floating body structure according to claim 1, characterized in that, In the flexible bladder buoyancy assembly, the gas regulation module includes a bidirectional air pump, gas pipelines connecting the bidirectional air pump to the upper end of each hollow flexible bladder, solenoid valves respectively installed in each gas pipeline, and gas chambers for storing gas. The gas chambers are used to buffer gas pressure fluctuations and provide a stable gas source. The bidirectional air pump is used to fill or extract gas into each flexible bladder. The solenoid valves work in conjunction with the bidirectional air pump to independently control the amount of gas injected or discharged into each hollow flexible bladder, thereby achieving rapid adjustment of the gas pressure and gas volume distribution inside the flexible bladder.

Images