Mooring device of floating type wind turbine generator, control method and floating type wind turbine generator

Abstract

The invention discloses a mooring device of a floating type wind turbine generator, a control method and the floating type wind turbine generator, and belongs to the technical field of wind power. The mooring device includes: a floating body having a top surface, a bottom surface, and side surfaces; the guide piece is arranged on the side face in the direction from the bottom face to the top face; the mooring piece is movably connected with the guiding piece and connected with the mooring rope and is provided with a stress sensor and a locking structure, the stress sensor collects stress data of the mooring piece, and the locking structure is locked with at least part of the position of the guiding piece; the control unit is configured to obtain stress data collected by the stress sensor under the condition that the wind speed falls into a first wind speed interval, determine a target mooring position on the guide part according to the relation between the stress data and a safe stress interval and the length of the guide part, and control the mooring part to move to the target mooring position along the guide part; and the locking structure is controlled to lock. According to the embodiment of the invention, the stability of the floating type wind turbine generator can be improved.

Description

Technical Field

[0001] This application belongs to the field of wind power technology, and in particular relates to a mooring device, control method and floating wind turbine. Background Technology

[0002] With the continuous development of wind power technology, the site selection of offshore wind farms is moving towards the deep sea. In order to meet the needs of deep-sea offshore wind farms, the use of floating wind turbines has become one of the important trends in offshore wind power development.

[0003] Floating wind turbines employ a floating structure, allowing the turbine to float on the water's surface. This floating structure is connected to the seabed via mooring cables, providing sufficient stability to withstand ocean waves and wind conditions. However, mooring cables are susceptible to light instability; therefore, they are positioned at a greater depth below the water surface to minimize sunlight exposure. However, this deeper mooring location reduces the constraint of the mooring cables on the floating wind turbine, leading to a decrease in its stability. Summary of the Invention

[0004] This application provides a mooring device, control method, and floating wind turbine for a floating wind turbine, which can improve the stability of the floating wind turbine.

[0005] In a first aspect, embodiments of this application provide a mooring device for a floating wind turbine, comprising: a float having a top surface, a bottom surface, and a side surface connecting the top and bottom surfaces, the top surface supporting the wind turbine and the bottom surface in contact with water; a guide member disposed on the side surface in a direction from the bottom surface to the top surface; a mooring member movably connected to the guide member, the mooring member being configured to be connected to a mooring cable, the mooring member being provided with a force sensor and a locking structure, the force sensor being configured to collect force data of the mooring member, and the locking structure being configured to lock at least a portion of the position of the guide member; and a control unit communicatively connected to the mooring member, configured to, when the wind speed falls into a first wind speed range, acquire the force data collected by the force sensor, determine a target mooring position on the guide member based on the relationship between the force data and a preset safe force range and the length of the guide member, control the mooring member to move along the guide member to the target mooring position, and control the locking structure to lock, thereby fixing the mooring member at the target mooring position.

[0006] Secondly, embodiments of this application provide a mooring control method for a floating wind turbine, applied to a mooring device for a floating wind turbine as described in the first aspect. The mooring control method includes: acquiring force data of a mooring component collected by a force sensor when the wind speed falls within a first wind speed range; determining a target mooring position on the guide based on the relationship between the force data and a preset safe force range, and the length of the guide; controlling the mooring component to move along the guide to the target mooring position, and controlling a locking structure to lock the mooring component at the target mooring position.

[0007] Thirdly, embodiments of this application provide a floating wind turbine, comprising: a wind turbine; a mooring device for the floating wind turbine, wherein the top surface of the floating platform in the mooring device supports the wind turbine; and a mooring cable connected to a mooring component in the mooring device of the floating wind turbine.

[0008] Fourthly, embodiments of this application provide a control unit for a floating wind turbine, applied to the mooring device of the floating wind turbine of the first aspect. The control unit includes: a data acquisition module, used to acquire force data of the mooring component collected by a force sensor when the wind speed falls within a first wind speed range; a mooring position determination module, used to determine a target mooring position on the guide based on the relationship between the force data and a preset safe force range, and the length of the guide; and a control processing module, used to control the mooring component to move along the guide to the target mooring position, and control the locking structure to lock, so as to fix the mooring component at the target mooring position.

[0009] Fifthly, embodiments of this application provide a controller for a floating wind turbine, comprising: a processor and a memory storing computer program instructions; the processor executes the computer program instructions to implement the mooring control method for the floating wind turbine of the second aspect.

[0010] In a sixth aspect, embodiments of this application provide a computer-readable storage medium storing computer program instructions, which, when executed by a processor, implement the mooring control method for a floating wind turbine in the second aspect.

[0011] This application provides a mooring device, control method, and floating wind turbine for a floating wind turbine. A guide is installed on the float of the floating wind turbine. A mooring component, connected to a mooring cable, is movably connected to the guide, allowing the mooring component to move along the guide, such as moving from the top surface to the bottom surface, or from the bottom surface to the top surface. Based on wind speed, force data collected by force sensors installed on the mooring component, the safe force range of the mooring component, and the length of the guide, a target mooring position is determined where the mooring cable can provide greater mooring pretension for the floating wind turbine. The control unit controls the mooring component to move along the guide to this target mooring position, increasing the mooring pretension. This provides appropriate constraint on the floating wind turbine, reducing the load on large components and improving the stability of the floating wind turbine. Attached Figure Description

[0012] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0013] Figure 1 A schematic diagram of the structure of a mooring device for a floating wind turbine provided in an embodiment of this application;

[0014] Figure 2 A schematic diagram of the mooring device for a floating wind turbine provided in another embodiment of this application;

[0015] Figure 3 A flowchart illustrating a mooring control method for a floating wind turbine provided in an embodiment of this application;

[0016] Figure 4 A schematic diagram illustrating an example of the mooring control process for a floating wind turbine provided in an embodiment of this application;

[0017] Figure 5 A comparative schematic diagram illustrating an example of the load on the stationary hub of a floating wind turbine provided in an embodiment of this application;

[0018] Figure 6 A comparative schematic diagram illustrating an example of the yaw load of a floating wind turbine provided in an embodiment of this application;

[0019] Figure 7 This is a schematic diagram of the control unit of a floating wind turbine provided in an embodiment of this application;

[0020] Figure 8This is a schematic diagram of the structure of a controller for a floating wind turbine provided in one embodiment of this application. Detailed Implementation

[0021] The features and exemplary embodiments of various aspects of this application will be described in detail below. To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain this application and not to limit it. For those skilled in the art, this application can be implemented without some of these specific details. The following description of the embodiments is merely to provide a better understanding of this application by illustrating examples. It should be noted that the acquisition, storage, use, and processing of information and data in the embodiments of this application are all authorized by users or relevant organizations and comply with the relevant provisions of national laws and regulations.

[0022] With the continuous development of wind power technology, offshore wind farms are increasingly being located in deeper waters. To meet the demands of deep-sea offshore wind farms, the use of floating wind turbines has become a significant trend in offshore wind power development. Floating wind turbines employ a floating structure, allowing them to float on the water's surface. This floating structure is connected to the seabed via mooring cables, providing sufficient stability to cope with waves and wind conditions. However, mooring cables are subject to light instability; therefore, they are positioned at a greater depth below the water surface to minimize exposure to sunlight. However, this deeper mooring location reduces the constraint of the mooring cables on the floating wind turbine, leading to a decrease in its stability.

[0023] This application provides a mooring device, control method, and floating wind turbine for a floating wind turbine. A guide member is installed on the float of the floating wind turbine. The mooring member, connected to the mooring cable, is movably connected to the guide member, allowing the mooring member to move along the guide member in a direction from the bottom surface to the top surface of the float. By combining wind speed, force data collected by force sensors installed on the mooring member, the safe force range of the mooring member, and the length of the guide member, the mooring member can be controlled to move along the guide member to a suitable mooring position. This mooring position allows the mooring device to provide appropriate constraint on the main body of the floating wind turbine, improving the stability of the floating wind turbine while minimizing the impact of sunlight on the mooring cable.

[0024] The following describes the mooring device, control method, floating wind turbine, control device, controller, medium, and computer program product of the floating wind turbine provided in this application.

[0025] The first aspect of this application provides a mooring device for a floating wind turbine, which can be used for floating wind turbines. Figure 1 This is a schematic diagram of the structure of a mooring device for a floating wind turbine provided in an embodiment of this application, as shown below. Figure 1 As shown, the mooring device for the floating wind turbine may include a float 11, a guide 12, a mooring component 13, and a control unit 14.

[0026] The float 11 floats in the water and is used to support the main body of the floating wind turbine generator. The float 11 has a top surface 111, a bottom surface 112, and a side surface 113 connecting the top surface 111 and the bottom surface 112. The top surface 111 supports the wind turbine generator, and the bottom surface 112 is in contact with the water.

[0027] The guide 12 is disposed on the side of the float 11 along the direction from the bottom surface 112 to the top surface 111 of the float 11. At least a portion of the guide 12 is located in the water. For example, a predetermined proportion of the length of the guide 12 near the bottom surface is located in the water, or the entire guide 12 is located in the water. The predetermined proportion can be obtained according to the scenario, requirements, experience, etc., such as a predetermined proportion of 90%. In some examples, the guide 12 may include, but is not limited to, a sliding track or a chute opened on the side.

[0028] The mooring member 13 is movably connected to the guide member 12, and the mooring member 13 can move back and forth along the extension direction of the guide member 12. For example, the mooring member 13 can move in a direction from the top surface 111 to the bottom surface 112, or in a direction from the bottom surface 112 to the top surface 111. In some examples, the mooring member 13 can be slidably connected to the guide member 12. The mooring member 13 is configured to be connected to the mooring cable 21, which can stabilize the floating wind turbine. In some examples, the mooring member 13 is provided with a connection hole 131 for connecting the mooring cable 21. The mooring cable 21 may be, but is not limited to, cables of the type such as fiber optic cables. The mooring member 13 is provided with a force sensor and a locking structure. A force sensor is configured to collect force data on the mooring member 13. This force data characterizes the mooring tension experienced by the mooring member 13. Higher mooring tension results in lower stability of the floating wind turbine, while lower mooring tension leads to higher stability. A locking structure is configured to lock at least a portion of the guide member, thereby fixing the mooring member 13 to a specific position on the guide member 12. The specific type of locking structure is not limited here; for example, it may include, but is not limited to, snap-fit ​​structures, magnetic structures, etc. Any locking structure capable of fixing the mooring member 13 to the guide member 12 is within the scope of protection of this application. In some examples, the locking structure can fix the mooring member 13 to any position on the guide member 12. In other examples, the locking structure can fix the mooring member to specific positions on the guide member 12. The mooring component 13 is fixed at different positions on the guide component 12. The mooring cable 21 can provide different stabilizing forces to the floating wind turbine. The stabilizing force provided by the mooring cable 21 to the floating wind turbine can be adjusted by adjusting the mooring position of the mooring component 13 on the guide component 12, thereby adjusting the stability of the floating wind turbine.

[0029] The number of guide members 12 and the number of mooring members 13 can correspond to the number of mooring cables 21. The number of guide members 12 can be the same as the number of mooring members 13, and one guide member 12 can be configured with one mooring member 13. If one mooring member 13 is connected to one mooring cable 21, then the number of mooring members 13 is the same as the number of mooring cables 21. If one mooring member 13 is connected to *a* mooring cables 21, where *a* is an integer greater than 1, then the number of mooring cables 21 is *a* times the number of mooring members 13. When there are multiple guide members 12, multiple guide members 12 can be arranged around the side 113 of the float 11. When the float 11 has multiple side 113, a guide member 12 can be arranged on each side.

[0030] The control unit 14 is communicatively connected to the mooring member 13. It can acquire force data collected by the force sensor of the mooring member 13, control the movement of the mooring member 13 along the guide member 12, and control the locking structure of the mooring member 13 to lock. Specifically, the control unit 14 can be configured to: acquire force data collected by the force sensor when the wind speed falls within a first wind speed range; determine the target mooring position on the guide member based on the relationship between the force data and a preset safe force range and the length of the guide member; control the mooring member to move along the guide member to the target mooring position; and control the locking structure to lock the mooring member at the target mooring position.

[0031] Wind speed can be measured by a wind speed measuring device and transmitted to the control unit 14. The specific type of wind speed measuring device is not limited here; for example, it may include an anemometer. The first wind speed range characterizes the wind speed range within which the floating wind turbine can stop generating electricity and ensure safe operation. The lower limit of the first wind speed range can be the cut-out wind speed of the floating wind turbine, and the upper limit can be the maximum wind speed that the floating wind turbine can withstand for safe operation, also known as the set operating condition wind speed. For example, the first wind speed range is V1 < V < V2, where V1 is the cut-out wind speed of the floating wind turbine, and V2 is the set operating condition wind speed. The safe stress range is the safe range of stress data for which the mooring component 13 can adjust the tension on the mooring component 13 by changing its mooring position. The upper and lower limits of the safe stress range can be obtained through simulation calculations using a floating wind turbine model. For example, the safe stress range can be (E0, E1). The lower limit of the safe stress range is the stress data of the maximum mooring tension experienced by the mooring component 13 when it is fixed at the lowest mooring position of the guide component 12, i.e., the mooring position closest to the bottom of the guide component 12, and the wind speed is within the first wind speed range. The bottom of the guide component is the end of the guide component 12 closest to the bottom surface 112. The upper limit of the safe stress range is the stress data of the maximum mooring tension experienced by the mooring component 13 when it is fixed at the highest mooring position of the guide component 12, i.e., the mooring position closest to the top of the guide component 12, and the wind speed is the upper limit of the first wind speed range. The top of the guide component 12 is the end of the guide component 12 closest to the top surface 111. The relationship between the stress data and the safe stress range can include the stress data... Whether the force data is located within the safe stress range, and the specific location of the force data within the safe stress range, which can also be reflected as the proportion of the difference between the force data and the lower limit of the safe stress range to the range of the safe stress range, etc. The range of the safe stress range is related to the length of the guide 12. The location of the force data within the safe stress range determines the mooring position (i.e., the target mooring position) required to ensure the stability of the floating wind turbine. The larger the force data, the greater the mooring tension on the mooring component, and the closer the target mooring position is to the top surface 111, i.e., the smaller the distance between the target mooring position and the top of the guide; the smaller the force data, the smaller the mooring tension on the mooring component, and the closer the target mooring position is to the bottom surface 112, i.e., the greater the distance between the target mooring position and the top of the guide. The control unit 14 can control the mooring component 13 to move up and down along the guide 12.

[0032] In some examples, the mooring member 13 may also be provided with a drive unit, which is used to drive the mooring member 13 to move along the guide 12 under the control of the control unit 14. That is, the control unit 14 can send control commands to the drive unit, and the drive unit drives the mooring member to move along the guide 12 to the corresponding target mooring position.

[0033] In this embodiment, a guide 12 is provided on the float 11 of the floating wind turbine. A mooring member 13, which is connected to the mooring cable 21, is movably connected to the guide 12, allowing the mooring member 13 to move along the guide 12, such as moving from the top surface 111 of the float 11 to the bottom surface 112 of the float 11, or moving from the bottom surface 112 to the top surface 111. Based on the wind speed, the force data collected by the force sensor installed on the mooring member 13, the safe force range of the mooring member 13, and the length of the guide 12, a target mooring position is determined where the mooring cable 21 can provide greater mooring pretension for the floating wind turbine. Within the safe force range, the distance between the target mooring position and the top of the guide 12 is positively correlated with the force data. The control unit 14 controls the mooring component 13 to move along the guide 12 to the target mooring position, increasing the mooring pretension so that the mooring device provides appropriate constraint on the floating wind turbine, reducing the load on large components in the floating wind turbine, and improving the stability of the floating wind turbine while minimizing the impact of sunlight on the mooring cable 21.

[0034] In some embodiments, the control unit 14 may be specifically configured to: when the force data is within a safe force range, acquire a first difference between the force data and the lower limit of the safe force range, and a second difference between the upper limit and the lower limit of the safe force range; and determine the target mooring position based on the length of the guide and the ratio of the first difference to the second difference. For ease of explanation, the ratio of the distance between the target mooring position and the bottom end of the guide 12 to the length of the guide 12 is called the first ratio, and the ratio of the first difference to the second difference is called the second ratio. The first ratio and the second ratio are positively correlated. That is, the larger the second ratio, the larger the first ratio. In some examples, the first ratio may be equal to the second ratio, that is, the relationship between the first ratio and the second ratio can be shown in the following equation (1):

[0035] Hi / L=(Fj-E0) / (E1-E0) (1)

[0036] Equation (1) above can be transformed to obtain equation (2) for determining the target mooring position:

[0037] Hi=[(Fj-E0) / (E1-E0)]×L (2)

[0038] Where Hi is the distance between the target mooring position and the bottom of the guide 12; L is the length of the guide 12; Fj is the force data collected by the force sensor; E0 is the lower limit of the safe force range; and E1 is the upper limit of the safe force range.

[0039] The control unit 14 can also be configured to: determine the mooring position closest to the top surface on the guide as the target mooring position when the force data is greater than the upper limit of the safe force range; and determine the mooring position closest to the bottom surface on the guide as the target mooring position when the force data is less than or equal to the lower limit of the safe force range.

[0040] If the locking structure can fix the mooring member 13 at any position on the guide member 12, and the force data exceeds the upper limit of the safe force range, the control unit 14 can control the mooring member 13 to move to the top of the guide member 12, i.e., the target mooring position, and control the locking structure to fix the mooring member 13 to the top of the guide member 12. If the locking structure can fix the mooring member 13 at individual positions on the guide member 12, and the force data exceeds the upper limit of the safe force range, the control unit 14 can control the mooring member 13 to move to the mooring position closest to the top of the guide member 12, i.e., the target mooring position, and control the locking structure to fix the mooring member 13 to that mooring position.

[0041] If the locking structure can fix the mooring member 13 at any position on the guide member 12, and the force data is less than or equal to the lower limit of the safe force range, the control unit 14 can control the mooring member 13 to move to the bottom end of the guide member 12, i.e., the target mooring position, and control the locking structure to fix the mooring member 13 at the bottom end of the guide member 12. If the locking structure can fix the mooring member 13 at individual positions on the guide member 12, and the force data is less than or equal to the lower limit of the safe force range, the control unit 14 can control the mooring member 13 to move to the mooring position closest to the bottom end of the guide member 12, i.e., the target mooring position, and control the locking structure to fix the mooring member 13 at that mooring position.

[0042] In some embodiments, the mooring member can be secured in the position of the guide upper limit structure by locking the limit structure and locking structure. Figure 2 This is a schematic diagram of the mooring device for a floating wind turbine provided in another embodiment of this application. Figure 2 and Figure 1 The difference lies in that the guide 12 can also be provided with multiple limiting structures 121, and one guide 12 can be configured with multiple limiting structures 121, but this is not limited to the number of limiting structures 121 configured in one guide 12; for example Figure 2As shown, the guide 12 is equipped with limiting structures 121a, 121b, 121c, 121d, and 121e, which sequentially approach the bottom end of the guide 12. The multiple limiting structures 121 are spaced apart along the extension direction of the guide 12. These limiting structures can be equally spaced or unequally spaced along the extension direction of the guide 12; this is not limited here. A locking structure can lock with the limiting structures 121 to fix the mooring member 13 at a target mooring position, which includes the location of the limiting structures 121.

[0043] Correspondingly, the control unit 14 can also be configured to: determine a first position based on the first product of the ratio and the length of the guide 12, wherein the first position is the distance from the end of the guide 12 that is closest to the bottom surface 112 as the first product; and determine the position of the limiting structure 121 that is closest to the first position as the target mooring position. Specifically, the control unit 14 can be configured to: control the locking structure to lock with the limiting structure closest to the first position. The first product can be H in equation (2) above. i Starting from the bottom end of the guide member 12, which is close to the bottom surface 112, the distance upward by the first product can be used to obtain the first position. The distance between the first position and the bottom end of the guide member 12 is the first product. However, there may not be a limiting structure at the first position. The limiting structure 121 closest to the first position can be selected. The control unit 14 controls the mooring member 13 to move to the limiting structure 121 closest to the first position, and controls the locking structure to lock with the limiting structure 121, thus fixing the mooring member 13 at the position of the limiting structure 121 closest to the first position.

[0044] If multiple limiting structures 121 are evenly spaced along the extension direction of the guide 12, the distance between the target mooring position and the bottom end of the guide 12 can be calculated based on the ratio of the first difference to the second difference, the number of limiting structures 121, and the distance between two adjacent limiting structures 121. For example, the distance between the target mooring position and the bottom end of the guide 12 can be calculated according to the following formula (3):

[0045] Hi=round([(Fj-E0) / (E1-E0)]×(n-1)) ×d (3)

[0046] Where Hi is the distance between the target mooring position and the bottom of the guide 12; d is the spacing between two adjacent limiting structures 121; round() is the rounding operation; Fj is the force data collected by the force sensor; E0 is the lower limit of the safe force range; and E1 is the upper limit of the safe force range.

[0047] Based on the relationship between the received data and the safe stress range, as well as the length of the guide, the target mooring position is determined. This ensures that, under the current environmental conditions, the target mooring position is as far away from the top of the guide as possible, i.e., the water depth at the target mooring position is as deep as possible, so that the mooring cable is located in a deeper part of the water, thereby minimizing the impact of sunlight on the mooring cable.

[0048] In some embodiments, the wind speed may be less than the lower limit of the first wind speed range or greater than the upper limit of the first wind speed range. In these cases, the mooring member 13 can be controlled to move to the extreme mooring position on the guide where it can be moored. The control unit 14 can also be configured to: when the wind speed falls into the second wind speed range, control the mooring member to move along the guide to the mooring position on the guide that is closest to the bottom surface, and control the locking structure to lock, wherein the upper limit of the second wind speed range is less than or equal to the lower limit of the first wind speed range; when the wind speed falls into the third wind speed range, control the mooring member to move along the guide to the mooring position on the guide that is closest to the top surface, and control the locking structure to lock, wherein the lower limit of the third wind speed range is greater than or equal to the upper limit of the first wind speed range.

[0049] In the above embodiments, the control unit 14 can control each mooring member 13 individually, and each mooring member 13 can move and lock on the corresponding guide 12 under the control of the control unit 14.

[0050] The second wind speed range is the wind speed range in which the floating wind turbine generates electricity. In some examples, the lower limit of the second wind speed range is 0, and the upper limit is the cut-out wind speed of the floating wind turbine. For example, the second wind speed range is 0 ≤ V ≤ V1, where V1 is the cut-out wind speed of the floating wind turbine. When the wind speed is within the second wind speed range, the floating wind turbine generates electricity normally. In this case, the floating wind turbine has good stability, and the mooring component 13 can be controlled to move to the mooring position on the guide component 12 closest to the bottom of the guide component, and the locking structure can be controlled to lock and fix the mooring component 13 on the guide component 12 at the mooring position closest to the bottom of the guide component. For example, if the guide component 12 has such Figure 2 The limiting structure 121 shown can control the mooring component 13 to move to the position of the limiting structure 121e when the wind speed is in the second wind speed range, and control the locking structure to lock the mooring component 13 at the position of the limiting structure 121e, so as to minimize the influence of sunlight on the mooring cable 21.

[0051] The third wind speed range is the wind speed range that the floating wind turbine's design structure cannot withstand. In some examples, the lower limit of the third wind speed range is the maximum wind speed that the floating wind turbine can safely withstand during operation, also known as the set operating wind speed. The upper limit of the third wind speed range is infinity; for example, the third wind speed range is V≥V2, where V2 is the set operating wind speed. When the wind speed is within the third wind speed range, the floating wind turbine is significantly affected by strong winds. In this case, the stability of the floating wind turbine is poor. The mooring component 13 can be controlled to move to the mooring position on the guide component 12 closest to the top of the guide component, and the locking structure can be controlled to lock the mooring component 13 on the guide component 12 at the mooring position closest to the top of the guide component. For example, if the guide component 12 has such... Figure 2 The limiting structure 121 shown can control the mooring component 13 to move to the position of the limiting structure 121a when the wind speed is in the third wind speed range, and control the locking structure to lock the mooring component 13 at the position of the limiting structure 121a, providing the maximum mooring pretension and stabilizing the floating wind turbine as much as possible.

[0052] The second aspect of this application provides a mooring control method for a floating wind turbine, which can be applied to the mooring device of the floating wind turbine in the above embodiments. Specifically, the mooring control method for the floating wind turbine can be executed by the control unit in the above embodiments. Figure 3 A flowchart of a mooring control method for a floating wind turbine provided in an embodiment of this application is shown below. Figure 3 As shown, the mooring control method for the floating wind turbine may include steps S301 to S303.

[0053] In step S301, when the wind speed falls within the first wind speed range, the force data of the mooring component collected by the force sensor is obtained.

[0054] In step S302, the target mooring position on the guide is determined based on the relationship between the force data and the preset safe force range, as well as the length of the guide.

[0055] In step S303, the mooring component is controlled to move along the guide to the target mooring position, and the locking structure is controlled to lock, so as to fix the mooring component in the target mooring position.

[0056] In some embodiments, step S302 can be further refined as follows: when the force data is within the safe force range, obtain a first difference between the force data and the lower limit of the safe force range, and a second difference between the upper limit and the lower limit of the safe force range; determine the target mooring position based on the length of the guide and the ratio of the first difference to the second difference.

[0057] In some examples, the guide has multiple limiting structures, which are spaced apart along the extension direction of the guide. The step of determining the target mooring position based on the length of the guide and the ratio of a first difference to a second difference can be further refined as follows: A first position is determined based on the first product of the ratio and the length of the guide, where the distance from the first position to the end of the guide closest to the bottom surface is the first product; the position of the limiting structure closest to the first position is determined as the target mooring position. Correspondingly, the locking of the control locking structure in step S303 can be further refined as follows: the control locking structure locks with the limiting structure closest to the first position.

[0058] In some embodiments, step S302 can be further refined as follows: when the force data is greater than the upper limit of the safe force range, the mooring position on the guide closest to the top surface is determined as the target mooring position; when the force data is less than or equal to the lower limit of the safe force range, the mooring position on the guide closest to the bottom surface is determined as the target mooring position.

[0059] In some embodiments, the mooring control method for the floating wind turbine may further include: when the wind speed falls into a second wind speed range, controlling the mooring component to move along the guide to the mooring position on the guide that is closest to the bottom surface, and controlling the locking structure to lock, wherein the upper limit of the second wind speed range is less than or equal to the lower limit of the first wind speed range; when the wind speed falls into a third wind speed range, controlling the mooring component to move along the guide to the mooring position on the guide that is closest to the top surface, and controlling the locking structure to lock, wherein the lower limit of the third wind speed range is greater than or equal to the upper limit of the first wind speed range.

[0060] For ease of understanding, here we will use Figure 2 Taking the mooring device of the floating wind turbine shown as an example, the flow of the mooring control method of the floating wind turbine in the embodiments of this application will be described. Figure 4 A schematic diagram illustrating an example of the mooring control process for a floating wind turbine provided in an embodiment of this application, as shown below. Figure 4 As shown, the mooring control process for the floating wind turbine may include steps b1 to b11.

[0061] In step b1, the wind speed V of the floating wind turbine is monitored.

[0062] In step b2, the force data Fj collected by each force sensor is monitored, that is, the tension of the mooring cable on each mooring component is monitored.

[0063] In step b3, determine whether 0 ≤ V ≤ V1. If yes, proceed to step b4; otherwise, proceed to step b5. Here, V1 is the cut-out wind speed of the floating wind turbine.

[0064] In step b4, all mooring components are moved to their respective limiting structures 121e and locked. After executing step b4, the process returns to step b1.

[0065] In step b5, determine whether V1 < V < V2. If yes, proceed to step b6; otherwise, proceed to step b11.

[0066] In step b6, for each mooring component, it is determined individually whether Fj≤E0 occurs. If yes, proceed to step b7; otherwise, proceed to step b8. Here, E0 is the lower limit of the safe stress range.

[0067] In step b7, the corresponding mooring component is moved to the limiting structure 121e and locked. After executing step b7, the process returns to step b1.

[0068] In step b8, for each mooring component, it is determined individually whether Fj≤E1 occurs. If yes, proceed to step b9; otherwise, proceed to step b10. Here, E1 is the upper limit of the safe stress range.

[0069] In step b9, the corresponding mooring component is moved to the limiting structure corresponding to the height Hi and locked. The calculation of the height Hi can be found in equations (1) to (3) above, and will not be repeated here. After executing step b9, return to step b1.

[0070] In step b10, the corresponding mooring component is moved to the limiting structure 121a and locked. After executing step b7, the process returns to step b1.

[0071] In step b11, all mooring components are moved to the limiting structure 121a and locked. After executing step b11, return to step b1.

[0072] The specific details of steps b1 to b11 above can be found in the relevant descriptions in the above embodiments, and will not be repeated here.

[0073] It should be noted that the mooring control method of this floating wind turbine is the control method corresponding to the mooring device of the above-mentioned floating wind turbine. All implementation methods in the above-mentioned mooring device embodiments are applicable to the embodiments of this mooring control method and can achieve the same technical effect, so they will not be described again here.

[0074] The mooring device for floating wind turbines provided in this application can effectively increase mooring pretension, better resist harsh sea conditions, improve the stability of floating wind turbines, reduce the load on large components in floating wind turbines, minimize the adverse effects of sunlight on mooring cables, and also reduce the design and development costs of floating wind turbines.

[0075] For example, Figure 5This is a comparative schematic diagram illustrating an example of the load on the stationary hub of a floating wind turbine provided in an embodiment of this application. Figure 5 The horizontal axis represents time, and the vertical axis represents load. Under the same environmental conditions, the blue curve represents the load on the stationary wheel hub when the mooring device and control method of this embodiment are not used, and the mooring position is at a height of -9 meters; the red curve represents the load on the stationary wheel hub when the mooring device and control method of this embodiment are used, and the mooring position is at a height of -3 meters. Here, -9 meters represents a depth of 9 meters above the water surface, and similarly, -3 meters represents a depth of 3 meters above the water surface. Figure 5 Therefore, by using the mooring device and mooring control method in the embodiments of this application to fix the mooring component in a suitable position, the load on the stationary hub can be effectively reduced.

[0076] For example, Figure 6 This is a comparative schematic diagram illustrating an example of the yaw load of a floating wind turbine provided in an embodiment of this application. Figure 6 The horizontal axis represents time, and the vertical axis represents load. Under the same environmental conditions, the blue curve represents the yaw load when the mooring device and mooring control method of this application are not used, and the mooring position is at an altitude of -9 meters; the red curve represents the yaw load when the mooring device and mooring control method of this application are used, and the mooring position is at an altitude of -3 meters. Figure 6 Therefore, by using the mooring device and mooring control method in the embodiments of this application to fix the mooring component in a suitable position, the yaw load can be effectively reduced.

[0077] In summary, by using the mooring device and mooring control method in the embodiments of this application to fix the mooring components in a suitable position, the load on the large components of the floating wind turbine can be effectively reduced, and the stability and safety of the floating wind turbine can be improved.

[0078] A third aspect of this application provides a floating wind turbine generator, which may include a wind turbine generator, a mooring device for the floating wind turbine generator as described in the above embodiments, and a mooring cable. The top surface of the floating platform in the mooring device supports the wind turbine generator, and the mooring cable is connected to a mooring component in the mooring device of the floating wind turbine generator.

[0079] It should be noted that the specific details of the floating wind turbine can be found in the relevant descriptions in the above embodiments, which can achieve the same technical effect, and will not be repeated here.

[0080] The fourth aspect of this application provides a control unit for a floating wind turbine, applied to the mooring device of the floating wind turbine in the above embodiments. The control unit is the control unit 14 of the mooring device in the above embodiments. Figure 7 This is a schematic diagram of the control unit of a floating wind turbine provided in one embodiment of this application, as shown below. Figure 7 As shown, the control unit 14 of the floating wind turbine may include a data acquisition module 141, a mooring position determination module 142, and a control processing module 143.

[0081] The data acquisition module 141 can be used to acquire the force data of the mooring component collected by the force sensor when the wind speed falls within the first wind speed range.

[0082] The mooring position determination module 142 can be used to determine the target mooring position on the guide based on the relationship between the force data and the preset safe force range, as well as the length of the guide.

[0083] The control processing module 143 can be used to control the mooring component to move along the guide to the target mooring position, and to control the locking structure to lock the mooring component to fix it in the target mooring position.

[0084] In some embodiments, the mooring position determination module 142 may be specifically used to: when the force data is within the safe force range, obtain a first difference between the force data and the lower limit of the safe force range, and a second difference between the upper limit and the lower limit of the safe force range; and determine the target mooring position based on the length of the guide and the ratio of the first difference to the second difference.

[0085] In some examples, the guide has multiple limiting structures, which are spaced apart along the extension direction of the guide. The mooring position determination module 142 can be specifically used to: determine a first position based on a ratio multiplied by the length of the guide, wherein the distance from the first position to the end of the guide closest to the bottom surface is the first product; and determine the position of the limiting structure closest to the first position as the target mooring position.

[0086] The control processing module 143 can be specifically used to: control the locking structure to lock with the limit structure closest to the first position.

[0087] In some embodiments, the mooring position determination module 142 can also be used to: determine the mooring position on the guide closest to the top surface as the target mooring position when the force data is greater than the upper limit of the safe force range; and determine the mooring position on the guide closest to the bottom surface as the target mooring position when the force data is less than or equal to the lower limit of the safe force range.

[0088] In some embodiments, the control processing module 143 can also be used to: control the mooring member to move along the guide to the mooring position on the guide that is closest to the bottom surface when the wind speed falls into the second wind speed range, and control the locking structure to lock, wherein the upper limit of the second wind speed range is less than or equal to the lower limit of the first wind speed range; and control the mooring member to move along the guide to the mooring position on the guide that is closest to the top surface when the wind speed falls into the third wind speed range, and control the locking structure to lock, wherein the lower limit of the third wind speed range is greater than or equal to the upper limit of the first wind speed range.

[0089] It should be noted that the control unit of the floating wind turbine is the control unit corresponding to the mooring device of the floating wind turbine. All implementation methods in the above mooring device embodiments are applicable to the embodiments of the control unit and can achieve the same technical effect, so they will not be repeated here.

[0090] The fifth aspect of this application provides a controller for a floating wind turbine. Figure 8 This is a schematic diagram of the structure of a controller for a floating wind turbine provided in one embodiment of this application, as shown below. Figure 8 As shown, the controller 400 of the floating wind turbine includes a memory 401, a processor 402, and a computer program stored in the memory 401 and capable of running on the processor 402.

[0091] In some examples, the processor 402 described above may include a central processing unit (CPU), or an application-specific integrated circuit (ASIC), or one or more integrated circuits that may be configured to implement the embodiments of this application.

[0092] Memory 401 may include read-only memory (ROM), random access memory (RAM), disk storage media device, optical storage media device, flash memory device, electrical, optical, or other physical / tangible memory storage device. Therefore, typically, memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the mooring control method for a floating wind turbine according to embodiments of this application.

[0093] The processor 402 runs a computer program corresponding to the executable program code by reading the executable program code stored in the memory 401, so as to implement the mooring control method of the floating wind turbine in the above embodiment.

[0094] In some examples, the controller 400 of the floating wind turbine may also include a communication interface 403 and a bus 404. For example, Figure 8 As shown, the memory 401, processor 402, and communication interface 403 are connected through bus 404 and complete communication with each other.

[0095] The communication interface 403 is mainly used to realize communication between various modules, devices, units and / or equipment in the embodiments of this application. Input devices and / or output devices can also be connected through the communication interface 403.

[0096] Bus 404 includes hardware, software, or both, that couples the components of the floating wind turbine controller 400 together. For example, and not limitingly, bus 404 may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hyper Transport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a Micro Channel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-E) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local Bus (VLB) bus, or other suitable buses, or a combination of two or more of these. Where appropriate, bus 404 may include one or more buses. Although specific buses are described and illustrated in the embodiments of this application, this application considers any suitable bus or interconnection.

[0097] A sixth aspect of this application provides a computer-readable storage medium storing computer program instructions. When executed by a processor, these instructions can implement the mooring control method for the floating wind turbine in the above embodiments and achieve the same technical effect. To avoid repetition, further details are omitted here. The aforementioned computer-readable storage medium may include non-transitory computer-readable storage media, such as read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks, etc., and is not limited thereto.

[0098] This application also provides a computer program product, which includes a computer program. When the computer program is executed by a processor, it implements the mooring control method for the floating wind turbine in the above embodiments and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0099] It should be clarified that the various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. For the embodiments of mooring control method, floating wind turbine, control unit, controller, computer-readable storage medium, and computer program product, the relevant parts can be referred to the description section of the mooring device embodiment. This application is not limited to the specific steps and structures described above and shown in the figures. Those skilled in the art can make various changes, modifications, and additions, or change the order of steps, after understanding the spirit of this application. Furthermore, for the sake of brevity, detailed descriptions of known methods and techniques are omitted here.

[0100] The aspects of this application have been described above with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It should be understood that each block in the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that these instructions, executable via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions / actions specified in one or more blocks of the flowchart illustrations and / or block diagrams. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field-programmable logic circuit. It is also understood that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can also be implemented by dedicated hardware performing the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0101] Those skilled in the art will understand that the above embodiments are exemplary and not restrictive. Different technical features appearing in different embodiments can be combined to achieve beneficial effects. Based on a study of the drawings, specification, and claims, those skilled in the art should be able to understand and implement other variations of the disclosed embodiments. In the claims, the term "comprising" does not exclude other means or steps; the quantifier "a" does not exclude a plurality; the terms "first" and "second" are used to identify names and not to indicate any particular order. No reference numerals in the claims should be construed as limiting the scope of protection. The functionality of multiple parts appearing in the claims can be implemented by a single hardware or software module. The appearance of certain technical features in different dependent claims does not mean that these technical features cannot be combined to achieve beneficial effects.

Claims

1. A mooring device for a floating wind turbine, characterized in that, include: The floating body has a top surface, a bottom surface, and a side surface connecting the top and bottom surfaces. The top surface is used to support the wind turbine, and the bottom surface is in contact with the water. The guide is disposed on the side surface in a direction from the bottom surface to the top surface; A mooring component, movably connected to the guide, the mooring component being configured to be connected to a mooring cable, the mooring component being provided with a force sensor and a locking structure, the force sensor being configured to collect force data of the mooring component, and the locking structure being configured to lock at least a portion of the position of the guide component. The control unit, which is communicatively connected to the mooring component, is configured to acquire the force data collected by the force sensor when the wind speed falls within a first wind speed range, determine the target mooring position on the guide based on the relationship between the force data and a preset safe force range and the length of the guide, control the mooring component to move along the guide to the target mooring position, and control the locking structure to lock the mooring component to fix it at the target mooring position.

2. The mooring apparatus according to claim 1, characterized in that, The guide includes a sliding rail or a groove formed on the side; The mooring component is also provided with a drive unit, which is used to drive the mooring component to move along the guide under the control of the control unit; The mooring component is also provided with a connection hole for connecting the mooring cable.

3. The mooring apparatus according to claim 1, characterized in that, The guide is provided with multiple limiting structures, which are spaced apart along the extension direction of the guide. The target mooring position includes the position of the limiting structures. The locking structure locks with the limiting structures to fix the mooring member at the target mooring position.

4. The mooring apparatus according to claim 1, characterized in that, The control unit is also configured to: When the wind speed falls into the second wind speed range, the mooring component is controlled to move along the guide to the mooring position on the guide that is closest to the bottom surface, and the locking structure is controlled to lock. The upper limit of the second wind speed range is less than or equal to the lower limit of the first wind speed range. When the wind speed falls into the third wind speed range, the mooring component is controlled to move along the guide to the mooring position on the guide that is closest to the top surface, and the locking structure is controlled to lock, wherein the lower limit of the third wind speed range is greater than or equal to the upper limit of the first wind speed range.

5. A mooring control method for a floating wind turbine, characterized in that, The mooring control method, applied to a mooring device for a floating wind turbine as described in any one of claims 1 to 4, comprises: When the wind speed falls within the first wind speed range, the force data of the mooring component collected by the force sensor is obtained; Based on the relationship between the stress data and the preset safe stress range, and the length of the guide, the target mooring position on the guide is determined; The mooring component is controlled to move along the guide to the target mooring position, and the locking structure is controlled to lock the mooring component to fix it at the target mooring position.

6. The mooring control method according to claim 5, characterized in that, The step of determining the target mooring position on the guide based on the relationship between the force data and the preset safe force range, and the length of the guide, includes: When the force data is within the safe force range, a first difference between the force data and the lower limit of the safe force range is obtained, and a second difference between the upper limit and the lower limit of the safe force range is obtained. The target mooring position is determined based on the length of the guide and the ratio of the first difference to the second difference.

7. The mooring control method according to claim 6, characterized in that, The guide is provided with multiple limiting structures, and the multiple limiting structures are spaced apart along the extending direction of the guide. Determining the target mooring position based on the length of the guide and the ratio of the first difference to the second difference includes: A first position is determined based on the first product of the ratio and the length of the guide, wherein the distance from the first position to the end of the guide that is close to the bottom surface is the first product; The location of the limiting structure closest to the first position is determined as the target mooring position; The control of locking the locking structure includes: The locking structure is controlled to lock with the limiting structure closest to the first position.

8. The mooring control method according to claim 6, characterized in that, Also includes: If the stress data is greater than the upper limit of the safe stress range, the mooring position on the guide that is closest to the top surface is determined as the target mooring position; If the stress data is less than or equal to the lower limit of the safe stress range, the mooring position on the guide that is closest to the bottom surface is determined as the target mooring position.

9. The mooring control method according to claim 5, characterized in that, Also includes: When the wind speed falls into the second wind speed range, the mooring component is controlled to move along the guide to the mooring position on the guide that is closest to the bottom surface, and the locking structure is controlled to lock. The upper limit of the second wind speed range is less than or equal to the lower limit of the first wind speed range. When the wind speed falls into the third wind speed range, the mooring component is controlled to move along the guide to the mooring position on the guide that is closest to the top surface, and the locking structure is controlled to lock, wherein the lower limit of the third wind speed range is greater than or equal to the upper limit of the first wind speed range.

10. A floating wind turbine generator, characterized in that, include: Wind turbine units; The mooring device for a floating wind turbine as described in any one of claims 1 to 4, wherein the top surface of the floating platform in the mooring device supports the wind turbine. A mooring cable is connected to the mooring element in the mooring device of the floating wind turbine.

11. A control unit for a floating wind turbine, characterized in that, The control unit, applied to a mooring device for a floating wind turbine as described in any one of claims 1 to 4, comprises: The data acquisition module is used to acquire the force data of the mooring component collected by the force sensor when the wind speed falls within the first wind speed range. The mooring position determination module is used to determine the target mooring position on the guide based on the relationship between the force data and the preset safe force range, as well as the length of the guide. The control processing module is used to control the mooring component to move along the guide to the target mooring position, and to control the locking structure to lock the mooring component to fix it at the target mooring position.

12. A controller for a floating wind turbine, characterized in that, include: Processor and memory storing computer program instructions; When the processor executes the computer program instructions, it implements the mooring control method for a floating wind turbine as described in any one of claims 5 to 9.

13. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer program instructions, which, when executed by a processor, implement the mooring control method for a floating wind turbine as described in any one of claims 5 to 9.

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