Method for the execution control of an intelligent adaptive soft landing of offshore installation of wind turbines

Abstract

This invention provides an execution control method for intelligent adaptive soft landing of wind turbines installed at sea, belonging to the field of execution control technology. It includes: Step 1: Adding a dynamic sensing module, an intelligent control module, and an adaptive execution module to the existing basic buffer unit of the wind turbine offshore soft landing system to form an execution control system; Step 2: Optimizing the settings of the newly added dynamic sensing module, intelligent control module, and adaptive execution module on the basic buffer unit; Step 3: The embedded controller of the intelligent control module calls the adaptive algorithm module to execute the adaptive algorithm for control. This invention introduces intelligent sensing and dynamic adjustment modules, combined with hydraulic control technology and algorithm optimization, to achieve real-time adaptive adjustment of buffer performance, improving the safety and efficiency of offshore installation.

Description

Technical Field

[0001] This invention belongs to the field of execution control technology, specifically relating to an execution control method for intelligent adaptive soft landing of wind turbines installed at sea. Background Technology

[0002] Existing offshore soft-landing systems for wind turbines, as mentioned in the prior art patent application "CN200910050458.7," achieve buffering through fixed-structure throttling and energy storage components. Parameters such as the throttling orifice size and the initial pressure of the energy storage components are preset and fixed, and cannot be adjusted according to dynamic conditions during installation. In actual offshore installation scenarios, sea conditions (such as wave height and period), turbine attitude (such as tilt angle and sway amplitude), and descent speed change in real time. Fixed-parameter buffering systems are prone to the following problems: when sea conditions are severe and the turbine descent speed is too fast, insufficient buffering force leads to excessive impact overload; when sea conditions are calm and the turbine descent speed is slow, excessive buffering force leads to low descent efficiency, or even "jamming," failing to meet the precise buffering requirements under complex dynamic conditions. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this invention provides an intelligent adaptive soft landing execution control method for offshore wind turbine installation. It introduces an intelligent sensing and dynamic adjustment module, combined with hydraulic control technology and algorithm optimization, to achieve real-time adaptive adjustment of buffer performance, thereby improving the safety and efficiency of offshore installation.

[0004] The present invention employs the following technical solution.

[0005] An execution control method for intelligent adaptive soft landing of offshore wind turbine installations includes:

[0006] Step 1: Based on the existing basic buffer unit of the offshore soft landing system for wind turbines, add a dynamic sensing module, an intelligent control module, and an adaptive execution module to form an execution control system;

[0007] Step 2: Optimize the settings of the newly added dynamic sensing module, intelligent control module and adaptive execution module on the basic buffer unit;

[0008] Step 3: The embedded controller of the intelligent control module calls the adaptive algorithm module to execute the adaptive algorithm for control.

[0009] Furthermore, in step 1, the basic buffer unit includes the plunger assembly, cylinder assembly, throttle rod assembly, cylinder bottom assembly, pipeline assembly, and energy storage assembly of the original wind turbine offshore soft landing system.

[0010] Furthermore, in step 1, the dynamic sensing module is used to collect real-time data on sea state, wind turbine attitude, descent speed, and buffer system status parameters, including:

[0011] Sea state sensors, including those for measuring wave height. Wave height meter, used to measure wave period The wave periodometer is installed on the crane ship or foundation platform;

[0012] The attitude sensor includes a three-axis gyroscope for measuring the rotational angular velocity of the wind turbine about the X, Y, and Z axes, and a gyroscope for measuring the acceleration of the wind turbine in the X, Y, and Z directions, wherein the accelerations in the X, Y, and Z directions are respectively... , and ;

[0013] Used to measure the real-time descent speed of the wind turbine relative to the base platform. Speed ​​sensor;

[0014] Used to measure the cylinder block oil chamber pressure of the cylinder block assembly separately. Pressure of energy storage components Two pressure sensors.

[0015] Furthermore, in step 1, the intelligent control module includes an embedded controller and an adaptive algorithm module running on the embedded controller. The embedded controller is connected to the dynamic sensing module. The embedded controller is used to receive sea state, wind turbine attitude, descent speed and buffer system status parameters transmitted from the dynamic sensing module as data of the sensing module, and calculates the optimal buffer parameters through the adaptive algorithm of the adaptive algorithm module, and sends control commands to the adaptive execution module connected to the embedded controller. The embedded controller is also used to transmit the sensing module data to the display screen connected to it for display.

[0016] Furthermore, in step 1, the adaptive execution module is used to adjust the buffer performance according to control instructions, which includes:

[0017] The variable throttling unit is a conical throttling valve core driven by a stepper motor, which is connected to an embedded controller;

[0018] The energy storage pressure regulation unit consists of an electromagnetic proportional valve, a make-up air pump, and a pressure relief valve. Both the electromagnetic proportional valve and the make-up air pump are connected to an embedded controller. The embedded controller regulates the real-time pressure of the energy storage component by controlling the opening of the proportional valve. ;

[0019] The auxiliary buffer unit consists of an electromagnetic overflow valve connected to an embedded controller.

[0020] Furthermore, in step 2, the method for optimizing the settings includes:

[0021] Step 2-1: Optimize the settings of the variable throttle bar assembly;

[0022] Step 2-2: Optimize the pressure regulation loop of the energy storage component.

[0023] Furthermore, step 2-1 specifically includes:

[0024] A conical throttling valve core is added inside the central hole of the existing throttling rod core. One end of the conical throttling valve core is connected to the output end of a stepper motor, which is used to drive the axial displacement of the valve core. The flow area of ​​the throttling orifice Follow The change is calculated using the following formula:

[0025] When the axial displacement of the valve core is At that time, the effective flow area of ​​the throttling orifice for:

[0026] ;

[0027] In the formula: The initial diameter of the center hole of the throttling rod core; The semi-cone angle of the conical throttle valve core; This represents the axial displacement of the valve core.

[0028] Furthermore, step 2-2 specifically includes:

[0029] The newly added air supply pump, pressure relief valve, and solenoid proportional valve are all installed on the pipeline of the energy storage unit. The opening degree of the solenoid proportional valve... Real-time pressure of energy storage components The relationship is:

[0030] ;

[0031] In the formula: The initial pressure of the energy storage component; The rated pressure of the air supply pump; The volumetric efficiency of the electromagnetic proportional valve; This refers to the opening degree of the electromagnetic proportional valve.

[0032] Furthermore, step 3 specifically includes:

[0033] Step 3-1: After the control system is powered on, the embedded controller of the intelligent control module reads its pre-stored fan quality data. Initial buffer parameters , The embedded controller of the intelligent control module drives the stepper motor to reset the conical throttle valve core, and the embedded controller of the intelligent control module controls the air supply pump to charge the energy storage component to... ;

[0034] Step 3-2: The embedded controller receives the sensing module data transmitted from the dynamic sensing module and calculates the optimal buffer parameters through the adaptive algorithm of the adaptive algorithm module;

[0035] Step 3-3: The adaptive algorithm module uses the target buffer force as the optimal buffer parameter. With target throttling area This generates control commands and sends them to the adaptive execution module connected to the embedded controller.

[0036] Furthermore, step 3-2 specifically includes:

[0037] The adaptive algorithm module calculates the target buffer force as the optimal buffer parameter based on data from the sensing module. With target throttling area :

[0038] Target buffer force The calculation formula is:

[0039] ;

[0040] In the formula: This refers to the total mass of the fan; It is the acceleration due to gravity; This is a sea state correction factor;

[0041] Target throttling area The calculation formula is:

[0042] ;

[0043] In the formula: The hydraulic oil flow rate in the cylinder oil chamber of the cylinder block assembly; The hydraulic oil density in the cylinder oil chamber of the cylinder block assembly; The pressure difference across the throttling orifice; is the throttling coefficient of the orifice.

[0044] Furthermore, step 3-3 specifically includes:

[0045] The adaptive algorithm module's adaptive algorithm is based on Calculate the axial displacement of the valve core driven by the stepper motor That is, through To derive , here The value is Next, the adaptive algorithm module's adaptive algorithm will contain... Control commands are sent to the stepper motor to drive the valve core axial displacement. The adaptive algorithm module's adaptive algorithm also depends on... and Deviation adjustment of electromagnetic proportional valve opening ,make Pressure for the target That is, first obtain Its calculation formula is Then according to The opening degree of the electromagnetic proportional valve is obtained by calculation. Next, the adaptive algorithm module's adaptive algorithm will contain... The control command is sent to the solenoid proportional valve to set its opening degree to . ,in The target pressure for the energy storage components.

[0046] The beneficial effects of the present invention are as follows, compared with the prior art:

[0047] Dynamically adaptable buffering performance reduces impact overload by more than 30%: By adjusting the throttling area and energy storage pressure in real time, the buffering force is always matched to the current operating conditions (e.g., automatically increasing the throttling area and increasing the energy storage pressure when the wave height is 3m, and decreasing the throttling area when the wave height is 0.5m). Simulation tests show that the peak impact overload of the wind turbine and the foundation platform has been reduced from 0.25g in the original system to below 0.22g, avoiding damage to the wind turbine structure.

[0048] Adaptable to various operating conditions, installation efficiency improved by 20%: Under different sea states (wave height 0.5-4m) and descent velocities (0.02-0.08m / s), the offshore soft landing system for wind turbines can maintain stable buffering without requiring manual shutdown for parameter adjustments. Compared to the original offshore soft landing system for wind turbines, the installation time for a single turbine is reduced from 8 hours to 6.5 hours under moderate sea states (wave height 1.5-2m).

[0049] Multiple buffering improvements enhance reliability and increase reset response speed by 50%: By combining a one-way valve (retained in the original wind turbine offshore soft landing system) with dynamic adjustment of energy storage pressure, the plunger reset time is shortened from 0.8s in the original system to 0.4s, which can cope with the high-frequency swaying of the wind turbine at 1-3Hz and achieve stable buffering for more than 10 consecutive cycles, adapting to long-term turbulent installation scenarios at sea.

[0050] The emergency protection mechanism is comprehensive and the safety is significantly improved: the overpressure and over-acceleration emergency unloading function can respond within 50ms, avoiding the risk of hydraulic system rupture or fan overturning. The emergency protection success rate reaches 100% after fault simulation test.

[0051] Highly compatible and retrofittable to existing systems: The newly added sensing, control, and execution modules can be directly installed on the existing offshore soft landing system for wind turbines without replacing core components, reducing modification costs and adapting to mainstream offshore wind turbine models such as 10-18MW. Attached Figure Description

[0052] Figure 1 This is a flowchart of the execution control method for intelligent adaptive soft landing of wind turbine installed at sea in this invention. Detailed Implementation

[0053] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of this invention. The embodiments described in this application are merely some embodiments of this invention, and not all embodiments. Based on the spirit of this invention, other embodiments obtained by those skilled in the art without creative effort are all within the protection scope of this invention.

[0054] like Figure 1 As shown, an execution control method for intelligent adaptive soft landing of a wind turbine installed at sea includes:

[0055] Step 1: Based on the basic buffer unit of the wind turbine offshore soft landing system with the original patent application number "CN200910050458.7", a dynamic sensing module, an intelligent control module and an adaptive execution module are added to form the execution control system for intelligent adaptive soft landing of wind turbine offshore installation.

[0056] The execution control system for intelligent adaptive soft landing of offshore wind turbines, based on the original "plunger assembly-cylinder block assembly-throttle rod assembly-cylinder bottom assembly-pipeline assembly-energy storage assembly", adds a dynamic sensing module, an intelligent control module, and an adaptive execution module. The overall structure is as follows:

[0057] In a preferred but non-limiting embodiment of the present invention, in step 1, the basic buffer unit includes the plunger assembly, cylinder assembly, throttle rod assembly, cylinder bottom assembly, pipeline assembly and energy storage assembly of the original wind turbine offshore soft landing system with patent application number "CN200910050458.7", thereby maintaining the original core buffer function and optimizing the structure of its key components to adapt to dynamic adjustment requirements.

[0058] In a preferred but non-limiting embodiment of the present invention, in step 1, the dynamic sensing module is used to collect sea state, wind turbine attitude, descent speed, and buffer system status parameters in real time, including:

[0059] Sea state sensors, including those for measuring wave height. Wave height meter, used to measure wave period A wave periodometer is installed on the crane vessel or foundation platform mentioned in the technical solution with patent application number "CN200910050458.7"; the wave periodometer can be an HZ-WAVES series wave sensor. Wave height. With wave cycle It refers to sea state parameters.

[0060] An attitude sensor includes a three-axis gyroscope for measuring the rotational angular velocities of the fan around the X, Y, and Z axes as described in the technical solution of patent application number "CN200910050458.7", and a sensor for measuring the acceleration of the fan in the X, Y, and Z directions, wherein the accelerations in the X, Y, and Z directions are respectively... , and It is installed on the base of the fan; the rotational angular velocities of the fan around the X, Y and Z axes, as well as the acceleration of the fan in the X, Y and Z directions, are the fan attitude parameters.

[0061] Used to measure the real-time descent speed of the wind turbine relative to the base platform. The speed sensor; the speed sensor can be a laser speed sensor, mounted on the outer wall of the cylinder assembly. Real-time descent speed of the blower relative to the base platform. It refers to the descent speed parameter.

[0062] Used to measure the cylinder block oil chamber pressure of the cylinder block assembly separately. Pressure of energy storage components Two pressure sensors are used. These pressure sensors can be hydraulic pressure sensors, and are respectively installed on the cylinder exhaust pressure test connector of the cylinder block assembly and the accumulator assembly pipeline. The cylinder block oil chamber pressure... Pressure of energy storage components These are the state parameters of the buffer system.

[0063] In a preferred but non-limiting embodiment of the present invention, in step 1, the intelligent control module includes an embedded controller (such as an STM32H743) and an adaptive algorithm module running on the embedded controller. The embedded controller is connected to the dynamic sensing module. The embedded controller is used to receive sea state, wind turbine attitude, descent speed and buffer system status parameters transmitted from the dynamic sensing module as sensing module data, and calculates the optimal buffer parameters through the adaptive algorithm of the adaptive algorithm module, and sends control commands to the adaptive execution module connected to the embedded controller. The embedded controller is also used to transmit the sensing module data to the display screen connected to it for display, thereby monitoring the sensing module data in real time.

[0064] In a preferred but non-limiting embodiment of the present invention, in step 1, the adaptive execution module is used to adjust the buffer performance according to control instructions, which includes:

[0065] The variable throttling unit is a conical throttling valve core driven by a stepper motor (installed in the center hole of the throttling rod core). The stepper motor is connected to an embedded controller, which controls the stepper motor to change the displacement of the valve core. Adjust the flow area of ​​the throttling orifice mentioned in the technical solution with patent application number "CN200910050458.7". The stepper motor is a linear stepper motor.

[0066] The energy storage pressure regulation unit consists of an electromagnetic proportional valve, a make-up air pump, and a pressure relief valve. Both the electromagnetic proportional valve and the make-up air pump are connected to an embedded controller. The embedded controller regulates the real-time pressure of the energy storage component by controlling the opening of the proportional valve. ;

[0067] The air supply pump, pressure relief valve, and electromagnetic proportional valve are all installed on the pipeline of the energy storage module. The air supply pump is responsible for replenishing the energy storage module with gas under the control of the embedded controller when gas needs to be replenished, ensuring that the pressure of the inert gas in the energy storage module is maintained within the normal operating range; the pressure relief valve opens when the pressure of the energy storage module exceeds the safety threshold (12MPa) to release excess pressure and prevent damage to the offshore soft landing system of the wind turbine due to excessive pressure; the electromagnetic proportional valve precisely adjusts the real-time pressure of the energy storage module according to the control instructions of the embedded controller of the intelligent control module to match its buffering requirements with the wind turbine.

[0068] The auxiliary buffer unit consists of an electromagnetic relief valve (installed on the cylinder assembly nozzle of the cylinder block assembly) connected to the embedded controller. When the impact overload exceeds the limit, the electromagnetic relief valve is opened to provide additional unloading buffer.

[0069] Step 2: Optimize the settings of the newly added dynamic sensing module, intelligent control module and adaptive execution module on the basic buffer unit;

[0070] In a preferred but non-limiting embodiment of the present invention, the method for optimizing the settings in step 2 includes:

[0071] Step 2-1: Optimize the settings of the variable throttle bar assembly;

[0072] In a preferred but non-limiting embodiment of the present invention, step 2-1 specifically includes:

[0073] A conical throttling valve core (material: 40CrNiMoA, chrome-plated) is added inside the central hole of the throttling rod mentioned in the original patent application "CN200910050458.7". One end of the conical throttling valve core is connected to the output end of a stepper motor, which is used to drive the axial displacement of the valve core. (Adjustment range: 0-20mm), the flow area of ​​the throttling orifice mentioned in the technical solution with patent application number "CN200910050458.7" (adjustment range: 0-20mm). Follow The change is calculated using the following formula:

[0074] When the axial displacement of the valve core is At that time, the effective flow area of ​​the throttling orifice for:

[0075] ;

[0076] In the formula: The initial diameter of the center hole of the throttling rod mandrel (unit: m, recommended value: 0.01~0.02m). The semi-cone angle of the conical throttle valve core (unit: rad, recommended value: π / 12~π / 8); This represents the axial displacement of the valve core (unit: m, s≥0).

[0077] Step 2-2: Optimize the pressure regulation loop of the energy storage component.

[0078] In a preferred but non-limiting embodiment of the present invention, step 2-2 specifically includes:

[0079] The energy storage unit still adopts a bladder-type structure. The newly added air supply pump (rated pressure: 10MPa), pressure relief valve (opening pressure: 12MPa), and electromagnetic proportional valve (model: 4WRA6E1-30-2X / G24K4 / V) are all installed on the pipeline of the energy storage unit. The opening degree of the electromagnetic proportional valve is... (0~100%) and real-time pressure of energy storage components The relationship is:

[0080] ;

[0081] In the formula: The initial pressure of the energy storage component (unit: MPa, recommended value: 0.4~0.6MPa). The rated pressure of the air supply pump (unit: MPa); The volumetric efficiency of the electromagnetic proportional valve (the volumetric efficiency of the electromagnetic proportional valve is the quotient obtained by dividing the real-time flow rate of the electromagnetic proportional valve by its rated flow rate; the real-time flow rate of the electromagnetic proportional valve can be collected by a flow sensor connected to the embedded controller and transmitted to the embedded controller). The opening degree of the electromagnetic proportional valve is (0≤k≤1).

[0082] Step 3: The embedded controller of the intelligent control module calls the adaptive algorithm module to execute the adaptive algorithm for control.

[0083] In a preferred but non-limiting embodiment of the present invention, step 3 specifically includes:

[0084] Step 3-1: After the control system is powered on, the embedded controller of the intelligent control module reads its pre-stored fan quality data. Initial buffer parameters , The embedded controller of the intelligent control module drives the stepper motor to reset the conical throttle valve core. =0), the embedded controller of the intelligent control module controls the air pump to inflate the energy storage component to ;

[0085] Step 3-2: The embedded controller receives the sensing module data transmitted from the dynamic sensing module and calculates the optimal buffer parameters through the adaptive algorithm of the adaptive algorithm module;

[0086] In a preferred but non-limiting embodiment of the present invention, step 3-2 specifically includes:

[0087] The adaptive algorithm module calculates the target buffer force as the optimal buffer parameter based on data from the sensing module. With target throttling area :

[0088] Target buffer force The calculation formula is:

[0089] ;

[0090] In the formula: The total mass of the wind turbine (unit: kg, determined according to the actual model, such as approximately 300,000 kg for a 5MW wind turbine). The acceleration due to gravity (unit: m / s², taken as 9.81). Sea state correction factor (based on wave height) Dynamic adjustment ≤1m =0.2; 1m < ≤3m =0.5; >3m =0.8);

[0091] Sea state correction factor The segmented values ​​( ≤1m =0.2; 1m < ≤3m =0.5; >3m =0.8) is determined based on the actual sea conditions in offshore installation scenarios, the impact of waves on wind turbines, and engineering practice experience. The specific basis is as follows:

[0092] According to internationally accepted sea state classification standards (such as the Dow sea state scale), wave height (Significant wave height) directly reflects the severity of sea conditions, and its impact on wind turbine installation exhibits a significant nonlinear characteristic:

[0093] ≤1m (corresponding to Dow State 1-2, calm to light waves): At this level, wave energy is low, and the additional swaying amplitude of the wind turbine caused by waves is small (horizontal displacement is usually <0.5m). The additional impact contribution to the buffer system is only within 20% of the basic gravity load. Therefore A value of 0.2 is used to mitigate the effect of sea state on buffering force and avoid excessive buffering that could reduce descent efficiency.

[0094] 1m < ≤3m (corresponding to Dow State 3-4, light to moderate waves): The wave energy is moderate, and the wind turbine is significantly disturbed by the waves (the swaying angle can reach 3°~5°, and the additional acceleration in the vertical direction is about 0.3~0.5g), with the impact load accounting for 30%-60% of the foundation's gravity load. At this time... A value of 0.5 can balance the safety and efficiency of the buffer, ensuring that the buffer force can both offset the impact of the waves and not excessively affect the descent speed.

[0095] >3m (corresponding to Dow State 5 and above, large to very large waves): The wave energy is high, and the wind turbine may experience violent swaying (angle >5°, vertical additional acceleration >0.5g), with the impact load accounting for 60%-80% of the foundation's gravity load. In this case, significantly enhanced buffering force is required to cope with sudden impacts. Using 0.8 ensures that the buffer system has sufficient safety margin to avoid overload damage.

[0096] Used to quantify the dynamic additional acceleration of waves on wind turbines: It is a simplified model based on small-amplitude wave theory, reflecting the order of vertical acceleration generated by wave motion. For wave height, For a period of time, (This refers to gravitational acceleration). As a correction factor, it is essentially a coefficient of efficiency in the transfer of wave impact energy to the buffer system: the more severe the sea conditions ( The larger the wave (the stronger the coupling between the wave and the wind turbine structure), the higher the energy transfer efficiency. The load needs to be increased synchronously to accurately reflect the actual impact load.

[0097] Target throttling area The calculation formula is:

[0098] ;

[0099] In the formula: Hydraulic oil flow rate in the cylinder block oil chamber of the cylinder block assembly (unit: m³ / s). , The effective working area of ​​the plunger mentioned in the technical solution of patent application number "CN200910050458.7" (unit: m²). Hydraulic oil density in the cylinder oil chamber of the cylinder block assembly (unit: kg / m³). The pressure difference across the throttle orifice (unit: Pa). ); is the throttling coefficient of the orifice.

[0100] Step 3-3: The adaptive algorithm module uses the target buffer force as the optimal buffer parameter. With target throttling area This generates control commands and sends them to the adaptive execution module connected to the embedded controller.

[0101] In a preferred but non-limiting embodiment of the present invention, step 3-3 specifically includes:

[0102] The adaptive algorithm module's adaptive algorithm is based on Calculate the axial displacement of the valve core driven by the stepper motor That is, through To derive , here The value is Next, the adaptive algorithm module's adaptive algorithm will contain... Control commands are sent to the stepper motor to drive the valve core axial displacement. The adaptive algorithm module's adaptive algorithm also depends on... and Deviation adjustment of electromagnetic proportional valve opening ,make Pressure for the target That is, first obtain Its calculation formula is Then according to The opening degree of the electromagnetic proportional valve is obtained by calculation. Next, the adaptive algorithm module's adaptive algorithm will contain... The control command is sent to the solenoid proportional valve to set its opening degree to . ,in The target pressure for the energy storage components.

[0103] The beneficial effects of the present invention are as follows, compared with the prior art:

[0104] Dynamically adaptable buffering performance reduces impact overload by more than 30%: By adjusting the throttling area and energy storage pressure in real time, the buffering force is always matched to the current operating conditions (e.g., automatically increasing the throttling area and increasing the energy storage pressure when the wave height is 3m, and decreasing the throttling area when the wave height is 0.5m). Simulation tests show that the peak impact overload of the wind turbine and the foundation platform has been reduced from 2.5g in the original system to below 1.7g, avoiding damage to the wind turbine structure.

[0105] Adaptable to various operating conditions, installation efficiency improved by 20%: Under different sea states (wave height 0.5-4m) and descent velocities (0.02-0.08m / s), the offshore soft landing system for wind turbines can maintain stable buffering without requiring manual shutdown for parameter adjustments. Compared to the original offshore soft landing system for wind turbines, the installation time for a single turbine is reduced from 8 hours to 6.5 hours under moderate sea states (wave height 1.5-2m).

[0106] Multiple buffering improvements enhance reliability and increase reset response speed by 50%: By combining a one-way valve (retained in the original wind turbine offshore soft landing system) with dynamic adjustment of energy storage pressure, the plunger reset time is shortened from 0.8s in the original system to 0.4s, which can cope with the high-frequency swaying of the wind turbine at 1-3Hz and achieve stable buffering for more than 10 consecutive cycles, adapting to long-term turbulent installation scenarios at sea.

[0107] The emergency protection mechanism is comprehensive and the safety is significantly improved: the overpressure and over-acceleration emergency unloading function can respond within 50ms, avoiding the risk of hydraulic system rupture or fan overturning. The emergency protection success rate reaches 100% after fault simulation test.

[0108] Highly compatible and retrofittable to existing systems: The newly added sensing, control, and execution modules can be directly installed on the existing offshore soft landing system for wind turbines without replacing core components, reducing retrofit costs and adapting to mainstream offshore wind turbine models such as 2-15MW.

[0109] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention without departing from the spirit and scope of the present invention. Any modifications or equivalent substitutions should be covered within the scope of protection of the claims of the present invention.

Claims

1. An execution control method of intelligent adaptive soft landing for offshore installation of a wind power generator, characterized by, include: Step 1: Based on the existing basic buffer unit of the offshore soft landing system for wind turbines, add a dynamic sensing module, an intelligent control module, and an adaptive execution module to form an execution control system; Step 2: Optimize the settings of the newly added dynamic sensing module, intelligent control module and adaptive execution module on the basic buffer unit; Step 3: The embedded controller of the intelligent control module calls the adaptive algorithm module to execute the adaptive algorithm for control; In step 2, the methods for optimizing settings include: Step 2-1: Optimize the settings of the variable throttle bar assembly; Step 2-2: Optimize the pressure regulation loop of the energy storage component; Step 2-1 specifically includes: A conical throttling valve core is added inside the central hole of the existing throttling rod core. One end of the conical throttling valve core is connected to the output end of a stepper motor, which is used to drive the axial displacement of the valve core. The flow area of ​​the throttling orifice Follow The change is calculated using the following formula: When the axial displacement of the valve core is At that time, the effective flow area of ​​the throttling orifice for: ； In the formula: The initial diameter of the center hole of the throttling rod core; The semi-cone angle of the conical throttle valve core; This represents the axial displacement of the valve core. Step 2-2 specifically includes: The newly added air supply pump, pressure relief valve, and solenoid proportional valve are all installed on the pipeline of the energy storage unit. The opening degree of the solenoid proportional valve... Real-time pressure of energy storage components The relationship is: ； In the formula: The initial pressure of the energy storage component; The rated pressure of the air supply pump; The volumetric efficiency of the electromagnetic proportional valve; This refers to the opening degree of the electromagnetic proportional valve; Step 3 specifically includes: Step 3-1: After the control system is powered on, the embedded controller of the intelligent control module reads its pre-stored fan quality data. Initial buffer parameters , The embedded controller of the intelligent control module drives the stepper motor to reset the conical throttle valve core, and the embedded controller of the intelligent control module controls the air supply pump to charge the energy storage component to... ; Step 3-2: The embedded controller receives the sensing module data transmitted from the dynamic sensing module and calculates the optimal buffer parameters through the adaptive algorithm of the adaptive algorithm module; Step 3-3: The adaptive algorithm module uses the target buffer force as the optimal buffer parameter. With target throttling area This generates control commands and sends them to the adaptive execution module connected to the embedded controller. Step 3-2 specifically includes: The adaptive algorithm module calculates the target buffer force as the optimal buffer parameter based on data from the sensing module. With target throttling area : Target buffer force The calculation formula is: ； In the formula: This refers to the total mass of the fan; It is the acceleration due to gravity; This is a sea state correction factor; Target throttling area The calculation formula is: ； In the formula: The hydraulic oil flow rate in the cylinder oil chamber of the cylinder block assembly; The hydraulic oil density in the cylinder oil chamber of the cylinder block assembly; The pressure difference across the throttling orifice; The throttling coefficient of the orifice; Step 3-3 specifically includes: The adaptive algorithm module's adaptive algorithm is based on Calculate the axial displacement of the valve core driven by the stepper motor That is, through To derive , here The value is Next, the adaptive algorithm module's adaptive algorithm will contain... Control commands are sent to the stepper motor to drive the valve core axial displacement. The adaptive algorithm module's adaptive algorithm also depends on... and Deviation adjustment of electromagnetic proportional valve opening ,make Pressure for the target That is, first obtain Its calculation formula is Then according to The opening degree of the electromagnetic proportional valve is obtained by calculation. Next, the adaptive algorithm module's adaptive algorithm will contain... The control command is sent to the solenoid proportional valve to set its opening degree to . ,in The target pressure for the energy storage components; In step 1, the basic buffer unit includes the plunger assembly, cylinder assembly, throttle rod assembly, cylinder bottom assembly, pipeline assembly, and energy storage assembly of the original wind turbine offshore soft landing system; In step 1, the dynamic sensing module is used to collect real-time data on sea state, wind turbine attitude, descent speed, and buffer system status parameters, including: Sea state sensors, including those for measuring wave height. Wave height meter, used to measure wave period The wave periodometer is installed on the crane ship or foundation platform; The attitude sensor includes a three-axis gyroscope for measuring the rotational angular velocity of the wind turbine about the X, Y, and Z axes, and a gyroscope for measuring the acceleration of the wind turbine in the X, Y, and Z directions, wherein the accelerations in the X, Y, and Z directions are respectively... , and ; Used to measure the real-time descent speed of the wind turbine relative to the base platform. Speed ​​sensor; Used to measure the cylinder block oil chamber pressure of the cylinder block assembly separately. Pressure of energy storage components Two pressure sensors.

2. The execution control method for intelligent adaptive soft landing of offshore wind turbine installation according to claim 1, characterized in that, In step 1, the intelligent control module includes an embedded controller and an adaptive algorithm module running on the embedded controller. The embedded controller is connected to the dynamic sensing module. The embedded controller is used to receive sea state, wind turbine attitude, descent speed and buffer system status parameters transmitted by the dynamic sensing module as data of the sensing module, and calculates the optimal buffer parameters through the adaptive algorithm of the adaptive algorithm module, and sends control commands to the adaptive execution module connected to the embedded controller. The embedded controller is also used to transmit the sensing module data to the display screen connected to it for display.

3. The execution control method for intelligent adaptive soft landing of offshore wind turbine installation according to claim 2, characterized in that, In step 1, the adaptive execution module is used to adjust the buffer performance according to control instructions, which includes: The variable throttling unit is a conical throttling valve core driven by a stepper motor, which is connected to an embedded controller; The energy storage pressure regulation unit consists of an electromagnetic proportional valve, a make-up air pump, and a pressure relief valve. Both the electromagnetic proportional valve and the make-up air pump are connected to an embedded controller. The embedded controller regulates the real-time pressure of the energy storage component by controlling the opening of the proportional valve. ; The auxiliary buffer unit consists of an electromagnetic overflow valve connected to an embedded controller.

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