Multi-degree-of-freedom wave power generation device, wind and wave integrated power generation system and control method

Abstract

The invention relates to the technical field of ocean renewable energy source utilization, and particularly discloses a multi-degree-of-freedom wave energy power generation device, a wind and wave integrated power generation system and a control method. The heaving energy conversion assembly comprises a first transmission mechanism and a hydraulic generator, the first end of the first transmission mechanism is rigidly connected with the wave energy floater, and the second end of the first transmission mechanism communicates with the hydraulic generator; the pitching energy conversion assembly comprises a second transmission mechanism and a rotary generator, the first end of the second transmission mechanism is fixedly connected with the wave energy floater, and the second end of the second transmission mechanism is connected with the rotary generator; and the mode switching mechanism can selectively start or close the heaving energy conversion assembly and the pitching energy conversion assembly, so that the device is switched among a heaving mode, a pitching mode and a coupling mode. According to the scheme, the efficient energy capture frequency band of the power generation device can be remarkably widened, and the energy capture efficiency of the power generation device is effectively improved.

Description

Technical Field

[0001] This specification relates to the field of marine renewable energy utilization technology, and in particular to a multi-degree-of-freedom wave energy power generation device, a wind and wave integrated power generation system and control method. Background Technology

[0002] With the increasing global demand for clean energy, the development and utilization of offshore renewable energy has become an important direction. Among them, integrating floating offshore wind power and wave power generation devices on the same support platform to form an integrated wind and wave power generation system can share infrastructure (such as platforms, moorings, and cables), effectively reducing development costs and improving the energy density and power supply stability of the sea area, which has become one of the mainstream trends in industry development.

[0003] In existing integrated wind and wave systems, wave energy harvesting devices mainly employ two methods: one is the relative heave motion between the harvesting device and the platform, and the other is the relative pitching motion between the harvesting device and the platform. However, existing wave energy harvesting devices cannot simultaneously accommodate both degrees of freedom of motion, resulting in low energy harvesting efficiency.

[0004] There is currently no effective solution to the above problems. Summary of the Invention

[0005] This specification provides an embodiment of a multi-degree-of-freedom wave energy power generation device, a wind-wave integrated power generation system, and a control method to solve the problem that existing wave energy power generation devices cannot simultaneously accommodate two degrees of freedom of motion, resulting in low energy capture efficiency.

[0006] This specification also provides an embodiment of a multi-degree-of-freedom wave energy generation device, integrated into a floating wind turbine platform, comprising: Wave-energy buoys are used to directly withstand wave forces to generate heave and / or pitching motion relative to the floating wind turbine platform. The heave energy conversion component includes a first transmission mechanism and a hydraulic generator. A first end of the first transmission mechanism is rigidly connected to the wave energy float, and a second end of the first transmission mechanism is connected to the hydraulic generator. It is used to convert the relative heave motion between the wave energy float and the floating wind turbine platform into electrical energy. The pitch energy conversion component includes a second transmission mechanism and a rotary generator. The first end of the second transmission mechanism is fixedly connected to the wave energy float, and the second end of the second transmission mechanism is connected to the rotary generator. It is used to convert the relative pitch motion between the wave energy float and the floating wind turbine platform into electrical energy. The mode switching mechanism can selectively activate or deactivate the heave energy conversion component and the pitch energy conversion component, thereby switching the device between heave mode, pitch mode, and coupling mode. In heave mode, the pitch energy conversion component is deactivated, and the device generates electricity through the heave energy conversion component. In pitch mode, the heave energy conversion component is deactivated, and the device generates electricity through the pitch energy conversion component. In coupling mode, both the heave energy conversion component and the pitch energy conversion component are activated, and the device generates electricity through both the heave energy conversion component and the pitch energy conversion component.

[0007] In one embodiment, the first transmission mechanism includes a first transmission rod, a hydraulic actuator, and a hydraulic pipeline. The first transmission rod is vertically arranged, and a first end of the first transmission rod is rigidly connected to the middle position of the wave energy float. The second end of the first transmission rod is connected to the hydraulic actuator, and the hydraulic actuator is connected to the hydraulic generator through the hydraulic pipeline.

[0008] In one embodiment, the hydraulic actuator includes: A sleeve is fixedly installed. The second end of the first transmission rod extends into the sleeve and can slide axially. The second end of the first transmission rod is provided with a piston, which forms a sliding sealing pair with the inner wall of the sleeve. The upper end of the sleeve is provided with a hydraulic interface, and the sleeve is connected to the hydraulic generator through the hydraulic pipeline via the hydraulic interface.

[0009] In one embodiment, the hydraulic actuator further includes a flange bearing, which is fixedly disposed, and the first transmission mechanism passes through the flange bearing and is slidable relative to it.

[0010] In one embodiment, the mode switching mechanism includes a limiting device; the limiting device is disposed at the lower end of the sleeve, the limiting device is used to prevent the second end of the first transmission rod from disengaging from the sleeve, the limiting device is also used to radially lock in the pitch mode, so that the first transmission rod and the sleeve are relatively stationary, thereby turning off the heave energy conversion component.

[0011] In one embodiment, the hydraulic actuator includes a housing, a flange bearing, a piston, and a sleeve; the mode switching mechanism includes a limiting device. The flange bearing is disposed inside the housing, and the lower surface of the flange bearing is fixed to the bottom surface of the housing. A first opening is provided on the bottom surface of the housing. The second end of the first transmission rod passes through the opening and the flange bearing, and the first transmission rod can slide relative to the flange bearing. A second opening is provided on the top surface of the outer casing, the upper end of the sleeve passes through the second opening, and the peripheral wall of the sleeve is fixedly connected to the edge of the second opening. A hydraulic interface is provided at the upper end of the sleeve, and the hydraulic interface is connected to the hydraulic generator through the hydraulic pipeline. The second end of the first transmission rod extends into the sleeve and can slide axially. The second end of the first transmission rod is provided with a piston, and the piston and the inner wall of the sleeve form a sliding sealing pair. The limiting device is disposed at the lower end of the sleeve. The limiting device is used to prevent the second end of the first transmission rod from disengaging from the sleeve. The limiting device is also used to lock in the pitch mode, so that the first transmission rod and the sleeve are relatively stationary, thereby turning off the heave energy conversion component.

[0012] In one embodiment, the limiting device is a mechanical limiting block that can be electrically locked, which prevents the first transmission rod from sliding relative to the sleeve when the limiting device is locked.

[0013] In one embodiment, the second transmission mechanism includes a second transmission rod, a round rod, a rotary bearing, a first gear, and a second gear; The first end of the second transmission rod is fixedly connected to the wave energy float, and the second end of the second transmission rod is fixedly connected to the round rod. The round rod passes through the rotary bearing, which is installed on the floating wind turbine platform. The round rod passes through the first gear and is fixedly connected to the first gear. The first gear meshes with the second gear, and the second gear is connected to the input shaft of the rotary generator.

[0014] In one embodiment, the mode switching mechanism includes a locker for locking the rotation of the second transmission mechanism in the heave mode, the locker acting on the second transmission mechanism or the first gear, such that the yaw energy conversion component is turned off in the heave mode.

[0015] This specification also provides an integrated wind and wave power generation system, including: Floating wind turbine platform; The multi-degree-of-freedom wave energy generation device described in any of the above embodiments is integrated with the floating wind turbine platform; A wave sensing device is used to collect wave information in the sea area where the floating wind turbine platform is located; A control device is communicatively connected to the mode switching mechanism of the wave sensing device and the multi-degree-of-freedom wave energy generation device. The control device is configured to control the mode switching mechanism to switch the wave energy generation device to a target operating mode based on the wave information. The target operating mode includes one of the following: heave mode, pitch mode, and coupling mode.

[0016] In one embodiment, the wave sensing device includes a floating wave sensor disposed upstream of the floating wind turbine platform in the wave-facing direction.

[0017] In one embodiment, the hydraulic generator and the rotary generator are mounted on the floating wind turbine platform; The wind and wave integrated power generation system also includes a wind turbine and a mooring chain. The wind turbine is mounted on the floating wind turbine platform, which is fixed to the seabed by multiple mooring chains.

[0018] This specification provides a control method, which is applied to the wind and wave integrated power generation system described in any of the above embodiments. The control method includes: Obtain wave information for the sea area where the floating wind turbine platform is located; Based on the wave information, the expected performance data of the multi-degree-of-freedom wave energy generation device of the wind-wave integrated power generation system are determined in each of the various working modes; the various working modes include: heave mode, pitch mode and coupling mode; Based on the expected performance data of each of the multiple operating modes, the target operating mode of the multi-degree-of-freedom wave energy generation device is determined. The mode switching mechanism of the multi-degree-of-freedom wave energy power generation device is controlled to perform a switching operation, so that the multi-degree-of-freedom wave energy power generation device is in the target working mode.

[0019] In one embodiment, obtaining wave information of the sea area where the floating wind turbine platform is located includes: Receive real-time wave information from a wave sensing device; the real-time wave information includes the wave propagation speed at the current moment; Based on the relative positions of the wave sensing device and the multi-degree-of-freedom wave energy generation device and the wave propagation speed, calculate the wave propagation time difference required for the wave to travel from the wave sensing device to the multi-degree-of-freedom wave energy generation device. Based on the real-time wave information and the wave propagation time difference, the wave parameters acting on the multi-degree-of-freedom wave energy generation device at the future target time are predicted; the future target time is the time corresponding to the wave propagation time difference after the current time.

[0020] In one embodiment, determining the expected performance data of the multi-degree-of-freedom wave energy generation device of the integrated wind and wave power generation system in various operating modes includes: Based on the pre-stored performance mapping relationship and the wave information, the expected performance data of the multi-degree-of-freedom wave energy generator of the wind-wave integrated power generation system in various working modes are determined; the performance mapping relationship is associated with the expected performance of the multi-degree-of-freedom wave energy generator in heave mode, pitch mode and coupling mode under different wave conditions.

[0021] In one embodiment, the expected performance includes power generation and / or platform motion response, and the optimization objective for determining the target operating mode is to maximize power generation, minimize platform motion response, or comprehensively consider power generation and platform motion response.

[0022] In one embodiment, the pre-stored performance mapping relationship is obtained in advance through numerical simulation. The numerical simulation is based on the parameterized model of the wind-wave integrated power generation system, and calculates its power generation and platform motion response under full-condition wave conditions in the heave mode, the pitch mode and the coupled mode respectively.

[0023] This specification also provides a computer device, including a processor and a memory for storing processor-executable instructions, wherein the processor executes the instructions to implement the steps of the control method described in any of the above embodiments.

[0024] This specification also provides a computer-readable storage medium storing computer instructions that, when executed, implement the steps of the control method described in any of the above embodiments.

[0025] This specification provides a multi-degree-of-freedom wave energy generation device integrated into a floating wind turbine platform. The multi-degree-of-freedom wave energy generation device includes a wave energy float, a heave energy conversion component, a pitch energy conversion component, and a mode switching mechanism. The heave energy conversion component includes a first transmission mechanism and a hydraulic generator. A first end of the first transmission mechanism is rigidly connected to the wave energy float, and a second end of the first transmission mechanism is connected to the hydraulic generator, used to convert the relative heave motion between the wave energy float and the floating wind turbine platform into electrical energy. The pitch energy conversion component includes a second transmission mechanism and a rotary generator. A first end of the second transmission mechanism is fixedly connected to the wave energy float, and a second end of the second transmission mechanism is connected to the rotary generator, used to convert the relative pitch motion between the wave energy float and the floating wind turbine platform into electrical energy. The mode switching mechanism can selectively activate or deactivate the heave energy conversion component and the pitch energy conversion component, allowing the device to switch between heave mode, pitch mode, and coupled mode. In heave mode, the pitch energy conversion component is deactivated, and the device generates electricity through the heave energy conversion component. In pitch mode, the heave energy conversion component is shut down, and the device generates electricity through the pitch energy conversion component. In coupled mode, both the heave and pitch energy conversion components are activated, and the device generates electricity through both. This scheme, by introducing a mode-switching mechanism that can actively switch operating modes, fundamentally changes the inherent fixed-frequency response characteristics of the wave energy generation device. It allows the device to dynamically select between heave, pitch, and coupled modes based on real-time sea conditions, significantly broadening the high-efficiency energy capture bandwidth of the power generation device and solving the core problem of insufficient adaptability of traditional fixed-mode devices in wide-band sea conditions. Simultaneously, this mode-switching mechanism provides a direct means to achieve synergistic optimization of power generation and platform stability. It can select the optimal energy capture mode when pursuing maximum power generation, switch to the mode with the least impact on platform movement under severe sea conditions to ensure structural safety and turbine operational stability, and seek a balance between power generation and impact on platform movement. Ultimately, it achieves a dual improvement in power generation efficiency and system reliability by increasing the average annual power generation under all operating conditions and effectively reducing fatigue loads on key platform components.

[0026] Specific embodiments of the invention are disclosed in detail below with reference to the description and accompanying drawings, indicating how the principles of the invention can be employed. It should be understood that the embodiments of the invention are not therefore limited in scope. Features described and / or shown for one embodiment may be used in the same or similar manner in one or more other embodiments, combined with features in other embodiments, or substituted for features in other embodiments.

[0027] It should be emphasized that the term "comprising / including" as used herein refers to the presence of a feature, part, step, or component, but does not exclude the presence or addition of one or more other features, parts, steps, or components. Attached Figure Description

[0028] The accompanying drawings described herein are for illustrative purposes only and are not intended to limit the scope of the invention in any way. Furthermore, the shapes and proportions of the components in the drawings are merely illustrative to aid in understanding the invention and do not specifically limit the shapes and proportions of the components. Those skilled in the art, guided by the teachings of this invention, can select various possible shapes and proportions to implement the invention according to specific circumstances. In the drawings: Figure 1 A schematic diagram of a multi-degree-of-freedom wave energy generation device according to one embodiment of this specification is shown; Figure 2 A schematic diagram of the structure of a helical energy conversion component in one embodiment of this specification is shown; Figure 3 A partial structural schematic diagram of a helical energy conversion component in one embodiment of this specification is shown; Figure 4 A top view of a pitch energy conversion assembly according to one embodiment of this specification is shown; Figure 5 A front view of a pitch energy conversion component according to one embodiment of this specification is shown; Figure 6 A schematic diagram of the structure of an integrated wind and wave power generation system according to one embodiment of this specification is shown; Figure 7 A flowchart of a control method according to one embodiment of this specification is shown; Figure 8 The power curves of a multi-degree-of-freedom wave energy generation device under different power generation modes in one embodiment of this specification are shown. Figure 9 The diagram shows the motion of the floating platform under different power generation methods in one embodiment of this specification. Figure 10 A schematic diagram of the control device in one embodiment of this specification is shown; Figure 11 A schematic diagram of the structure of a computer device according to one embodiment of this specification is shown.

[0029] The reference numerals in the above figures are as follows: 100. Multi-degree-of-freedom wave energy generation device; 200. Floating wind turbine platform; 300. Wave sensing device; 400. Control device; 500. Wind turbine; 600. Mooring chain; 110. Hydraulic generator; 111. First transmission rod; 112. Hydraulic pipeline; 113. Sleeve; 114. Flange bearing; 115. Piston; 116. Housing; 120. Rotary generator; 121. Second transmission rod; 122. First gear; 123. Second gear; 124. Round rod; 125. Rotary bearing; 103. Wave-powered buoy. Detailed Implementation

[0030] The principles and spirit of this specification will now be described with reference to several exemplary embodiments. It should be understood that these embodiments are given merely to enable those skilled in the art to better understand and implement this specification, and are not intended to limit the scope of this specification in any way. Rather, these embodiments are provided to make this disclosure more thorough and complete, and to fully convey the scope of this disclosure to those skilled in the art.

[0031] Those skilled in the art will recognize that the embodiments described in this specification can be implemented as a system, apparatus, method, or computer program product. Therefore, the disclosure of this specification can be specifically implemented in the following forms: entirely hardware, entirely software (including firmware, resident software, microcode, etc.), or a combination of hardware and software.

[0032] The details of the present invention can be more clearly understood by referring to the accompanying drawings and the description of specific embodiments. However, the specific embodiments of the present invention described herein are for illustrative purposes only and should not be construed as limiting the invention in any way. Under the teachings of this invention, those skilled in the art can conceive of any possible modifications based on the invention, all of which should be considered within the scope of the invention. It should be noted that when an element is referred to as being "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or there may be an intervening element. The terms "mounted," "connected," and "connected" should be interpreted broadly, for example, they can refer to mechanical or electrical connections, or internal communication between two elements, and can be direct or indirect connections through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only embodiments.

[0033] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this specification belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of this specification. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0034] This specification also provides a multi-degree-of-freedom wave energy generation device. The multi-degree-of-freedom wave energy generation device in this specification is integrated into a floating wind turbine platform. Please refer to... Figure 1 This diagram illustrates the structure of a multi-degree-of-freedom wave energy generation device as described in an embodiment of this specification. Figure 1 As shown, the multi-degree-of-freedom wave energy generation device 100 may include: a wave energy float 103, a heave energy conversion component, a pitch energy conversion component, and a mode switching mechanism.

[0035] The wave energy float 103 is used to directly withstand the wave force to generate heave and / or pitching motion relative to the floating wind turbine platform 200. The wave energy float 103 is positioned on the water surface and directly withstands the excitation of the waves. The wave energy float 103 mechanically connects both heave and pitching energy conversion paths.

[0036] The heave energy conversion assembly may include a first transmission mechanism and a hydraulic generator 110. A first end of the first transmission mechanism is rigidly connected to the wave energy float 103. A second end of the first transmission mechanism is connected to the hydraulic generator 110, used to convert the relative heave motion between the wave energy float 103 and the floating wind turbine platform 200 into electrical energy. The heave energy conversion assembly converts the vertical linear motion of the float into hydraulic energy through the first transmission mechanism, thereby driving the hydraulic generator 110 to generate electricity.

[0037] The pitch energy conversion assembly may include a second transmission mechanism and a rotary generator 120. The first end of the second transmission mechanism is fixedly connected to the wave energy float 103. The second end of the second transmission mechanism is connected to the rotary generator 120, used to convert the relative pitch motion between the wave energy float 103 and the floating wind turbine platform 200 into electrical energy. The pitch energy conversion assembly then directly converts the pitch rotation motion of the float into mechanical rotation through the second transmission mechanism, driving the rotary generator 120 to generate electricity.

[0038] The mode switching mechanism can selectively activate or deactivate the heave energy conversion component and the pitch energy conversion component, allowing the device to switch between heave mode, pitch mode, and coupled mode. The mode switching mechanism achieves independent on / off control of each energy path through specific actuators, such as a locking device for locking the pitch drive shaft, or a limit device 131 for locking the heave drive rod to cut off the hydraulic path. In heave mode, the pitch energy conversion component is deactivated, and the multi-degree-of-freedom wave energy generator 100 generates electricity through the heave energy conversion component. In pitch mode, the heave energy conversion component is deactivated, and the multi-degree-of-freedom wave energy generator 100 generates electricity through the pitch energy conversion component. In coupled mode, both the heave and pitch energy conversion components are activated, and the multi-degree-of-freedom wave energy generator 100 generates electricity through both the heave and pitch energy conversion components.

[0039] In the above embodiments, by introducing a mode-switching mechanism that can actively switch operating modes, the inherent fixed-frequency response characteristics of the wave energy power generation device are fundamentally changed. This allows the device to dynamically select between heave, pitch, and coupled modes based on real-time sea conditions, thereby significantly broadening the high-efficiency energy capture bandwidth of the power generation device and solving the core problem of insufficient adaptability of traditional fixed-mode devices in wide-band sea conditions. Simultaneously, this mode-switching mechanism provides a direct means to achieve synergistic optimization of power generation and platform stability. It can select the optimal energy capture mode when pursuing maximum power generation, and switch to the mode with the least impact on platform movement under severe sea conditions to ensure structural safety and turbine operational stability. Furthermore, it can seek a balance between power generation and impact on platform movement, ultimately achieving a dual improvement in power generation efficiency and system reliability while effectively reducing fatigue loads on key platform components, thus increasing the average annual power generation across all operating conditions.

[0040] Please refer to Figure 2 and Figure 3 This diagram illustrates the structure of the heave energy conversion component in an embodiment of this specification. Figure 2 and Figure 3 As shown, in some embodiments of this specification, the first transmission mechanism may include a first transmission rod 111, a hydraulic actuator, and a hydraulic line 112. The first transmission rod 111 is vertically arranged, and its first end is rigidly connected to the middle position of the wave energy float 103. The second end of the first transmission rod 111 is connected to the hydraulic actuator, which is connected to the hydraulic generator 110 through the hydraulic line 112.

[0041] In this embodiment, the first transmission rod 111 is a vertically arranged rigid rod. The first end (lower end) of the first transmission rod 111 is rigidly connected (e.g., by welding or flange fastening) to the middle position (i.e., near the center of gravity or geometric center) of the wave energy float 103. This central connection ensures that the swaying motion of the float is effectively and losslessly transmitted to the transmission rod, and avoids generating unnecessary additional bending moments. A hydraulic actuator is connected to the second end (upper end) of the first transmission rod 111. This actuator is the core component for converting linear mechanical motion into hydraulic energy. In one embodiment, the hydraulic actuator can be a hydraulic cylinder containing a piston 115 and a cylinder (sleeve 113). The hydraulic line 112 is a fluid passage connecting the outlet of the hydraulic actuator to the hydraulic generator 110, typically a high-pressure hose or rigid pipe. When waves cause the float to move up and down (sway), the linear reciprocating motion is directly transmitted to the hydraulic actuator through the rigidly connected first transmission rod 111, which then drives the hydraulic generator 110 located on the platform to rotate and generate electricity via the hydraulic line 112.

[0042] In the above embodiments, a rigid rod and central connection are used to establish a direct and rigid mechanical connection from the float to the hydraulic actuator. This effectively reduces energy loss and phase lag during motion transmission, ensuring that wave heave kinetic energy can be efficiently and instantly captured and the conversion process initiated, thus contributing to efficient heave mode power generation. The combination of mechanical rods and hydraulic conversion is effectively and reliably applicable to the ocean wave energy field, handling large-stroke, low-frequency, high-load reciprocating linear motion, ensuring efficient operation in heave mode.

[0043] In some embodiments of this specification, the hydraulic actuator may include a sleeve 113. The sleeve 113 is fixedly disposed. The second end of the first transmission rod 111 extends into the sleeve 113 and is axially slidable. A piston 115 is provided at the second end of the first transmission rod 111. The piston 115 and the inner wall of the sleeve 113 form a sliding sealing pair. A hydraulic interface is provided at the upper end of the sleeve 113, and the sleeve 113 is connected to the hydraulic generator 110 via the hydraulic interface and a hydraulic pipeline 112.

[0044] In this embodiment, the hydraulic actuator may include a sleeve 113. The sleeve 113 can serve as a fixed cylinder, typically fixed to the structure of the floating wind turbine platform 200 by a bracket or housing 116, forming a sealed cavity for hydraulic oil and a sliding track for the piston 115. The second end (upper end) of the first transmission rod 111 extends into the sleeve 113, and a piston 115 is rigidly connected (or integrally formed) at its end. The outer edge of the piston 115 is fitted with a seal (such as a sealing ring), forming a sliding sealing pair with the inner wall of the sleeve 113. A hydraulic interface is provided at the upper end of the sleeve 113 (or on the side wall near the upper end), and connected to a hydraulic generator 110 (typically referring to an integrated unit of hydraulic motor and generator) mounted on the platform via a high-pressure hose or rigid pipe (i.e., hydraulic line 112). When the wave-driven float performs a heaving motion, the first transmission rod 111 drives the piston 115 to perform axial reciprocating linear motion within the fixed sleeve 113. When piston 115 moves upward, it compresses the hydraulic oil in the upper chamber of sleeve 113, forcing the oil to flow through the hydraulic interface and pipeline to the hydraulic generator 110, driving it to rotate and generate electricity. When piston 115 moves downward, a negative pressure is formed in the lower chamber of sleeve 113 or oil is drawn from the upper chamber (depending on the circuit design), preparing for the next cycle. In this way, the mechanical energy of the wave oscillation is continuously and directly converted into hydraulic energy and ultimately into electrical energy.

[0045] In the above embodiments, any intermediate transmission mechanism (such as gears or connecting rods) is eliminated, and the linear heave motion of the float is directly converted into pressure and flow changes of hydraulic oil through piston 115. This achieves a short-path, high-efficiency conversion of energy forms, reduces energy loss in multiple conversions, and enables the heave mode to achieve high power generation efficiency.

[0046] like Figure 2 and Figure 3 As shown, in some embodiments of this specification, the hydraulic actuator may further include a flange bearing 114. The flange bearing 114 is fixedly disposed, and the first transmission mechanism passes through and is slidable relative to the flange bearing 114. The flange bearing 114 serves to limit the vertical movement of the first transmission rod 111.

[0047] In this embodiment, the flange bearing 114 can be a sliding bearing or a composite bearing with a flange, which is fixedly mounted on the relevant structure (such as the support housing 116) of the floating wind turbine platform 200 via its flange. The first transmission rod 111 passes through the inner hole of the flange bearing 114 and can slide freely axially (vertically) within the hole, but the fit clearance between the bearing inner hole and the transmission rod is strictly controlled to effectively limit the radial (horizontal) swaying of the transmission rod. When the wave-driven float and the first transmission rod 111 rigidly connected to it perform heaving motion, the transmission rod performs the main axial movement within the sleeve 113-piston 115 pair, which serves as the dominant axial and load-bearing structure. At the same time, the flange bearing 114 provides an additional, high-precision guide support point at the upper or middle part of the transmission rod, which, together with the sleeve 113, forms support and constraint for the long-stroke transmission rod, ensuring that its movement trajectory is strictly limited to the vertical direction.

[0048] In the above embodiments, considering the multidirectional and irregular nature of ocean waves, the float's motion is not ideal pure heave, but is often accompanied by horizontal disturbances. The flange bearing 114 filters out these undesirable horizontal motion components by limiting the radial displacement of the transmission rod, ensuring that the motion transmitted to the piston 115 is as axial as possible. This reduces the risk of uneven wear and jamming between the piston 115 and the sleeve 113, improves the reliability of energy conversion, and allows the pressure changes of the hydraulic oil to correspond to the height of the wave heave energy input, reducing energy loss due to lateral forces. Furthermore, the flange bearing 114 also lays the foundation for reliable mode switching.

[0049] like Figures 1 to 3 As shown, in some embodiments of this specification, the mode switching mechanism may include a limiting device 131. The limiting device 131 is disposed at the lower end of the sleeve 113. The limiting device 131 is used to prevent the second end of the first transmission rod 111 from disengaging from the sleeve 113. The limiting device 131 is also used to radially lock in the pitch mode, causing the first transmission rod 111 to remain relatively stationary with respect to the sleeve 113, thereby shutting down the heave energy conversion assembly.

[0050] In this embodiment, the limiting device 131 is located at the lower end of the sleeve 113 (i.e., the protruding end of the first transmission rod 111). The limiting device 131 can be a mechanical retaining ring or a clamp, and its primary function is to prevent the second end of the first transmission rod 111 from completely disengaging from the sleeve 113 during extreme swing strokes, thereby ensuring basic operational safety. The limiting device 131 is further configured to controllably perform a radial locking action. Upon receiving a control command, the limiting device 131 can generate a radial locking force through mechanical, hydraulic, or electric means (such as an electrically controlled locking pin or hydraulic clamp) to tightly hold the first transmission rod 111 located inside it. When the device needs to switch to the pitch mode, the control device 400 issues a locking command to the limiting device 131. The limiting device 131 actuates, firmly fixing the first transmission rod 111 onto the sleeve 113, preventing any further relative axial sliding between the two. Since piston 115 is fixed to the drive rod, this is equivalent to fixing piston 115 in the current position of sleeve 113. At this point, the heave motion caused by the wave can no longer drive piston 115 to do work, the oil in the hydraulic circuit stops flowing, and the heave energy conversion component is physically shut down.

[0051] In the above embodiments, the limiting device 131 can prevent energy output and eliminate motion input, cutting off the energy flow at the source. This hard connection method avoids minor slippage caused by internal leakage of hydraulic valves or system elasticity, ensuring that the heave component is absolutely stationary, with zero power consumption and zero loss in pitch mode, so that the dynamic characteristics in this mode are defined by the pitch component. The limiting device 131 integrates two key functions, stroke limit protection and mode switching actuator, into a single component. This integrated design simplifies the overall structure, reduces the number of parts, and improves the system's compactness and ease of placement in limited platform space.

[0052] like Figure 2 and Figure 3As shown, in some embodiments of this specification, the hydraulic actuator may include a housing 116, a flange bearing 114, a piston 115, and a sleeve 113. The mode switching mechanism may include a limiting device 131. The flange bearing 114 is disposed within the housing 116, and its lower surface is fixed to the bottom surface of the housing 116. A first opening is provided on the bottom surface of the housing 116, and the second end of a first transmission rod 111 passes through the opening and the flange bearing 114, allowing the first transmission rod 111 to slide relative to the flange bearing 114. A second opening is provided on the top surface of the housing 116. The upper end of the sleeve 113 passes through the second opening, and the peripheral wall of the sleeve 113 is fixedly connected to the edge of the second opening. A hydraulic interface is provided at the upper end of the sleeve 113, and the hydraulic interface is connected to a hydraulic generator 110 via a hydraulic pipeline 112. The second end of the first transmission rod 111 extends into the sleeve 113 and can slide axially. A piston 115 is provided at the second end of the first transmission rod 111, and the piston 115 and the inner wall of the sleeve 113 form a sliding sealing pair. A limiting device 131 is provided at the lower end of the sleeve 113. The limiting device 131 is used to prevent the second end of the first transmission rod 111 from disengaging from the sleeve 113. The limiting device 131 is also used to lock in the pitch mode, so that the first transmission rod 111 and the sleeve 113 are relatively stationary, thereby shutting down the heave energy conversion assembly.

[0053] In this embodiment, the outer casing 116 serves as the base and protective cover for the entire hydraulic actuator module. The outer casing 116 is a rigid, sealed or semi-sealed structure. The outer casing 116 can be directly or indirectly fixed to the floating wind turbine platform 200. The flange bearing 114 is installed and fixed to the bottom surface inside the outer casing 116. A first opening is provided on the bottom surface of the outer casing 116, allowing the first transmission rod 111 to pass through. The first transmission rod 111 passes through this opening and the inner hole of the flange bearing 114, and can slide vertically relative to the flange bearing 114. The flange bearing 114 provides the main radial constraint and guiding function for the first transmission rod 111. The sleeve 113 is installed from above, with its upper end passing through a second opening on the top surface of the outer casing 116 and fixedly connected to the edge of the opening by welding, bolts, or other means, so that part of the sleeve 113 is located inside the outer casing 116, and part of the sleeve 113 is located outside the outer casing 116. A hydraulic interface is provided at the upper end of the sleeve 113, which is connected to an external hydraulic generator 110 via a pipeline. The second end of the first transmission rod 111 extends upward into the sleeve 113, and a piston 115 is fixed to its end. The piston 115 and the inner wall of the sleeve 113 form a sliding sealing pair, creating a sealed hydraulic cavity. A limiting device 131 is installed at the lower end of the sleeve 113 (located inside the outer casing 116). The limiting device 131 can achieve mechanical blocking, preventing the transmission rod from moving excessively downward and dislodging from the sleeve 113. The core function of the limiting device 131 is controllable locking, which can rigidly lock the transmission rod to the sleeve 113 when needed.

[0054] In the above embodiments, by encapsulating most components within the housing 116, direct corrosion from harsh marine environments such as seawater, salt spray, and marine organisms can be effectively isolated, greatly improving the service life and reliability of core components and reducing the risk of corrosion and failure. This is crucial for the long-term stable operation of marine equipment. The flange bearing 114 is fixed to the bottom surface of the housing 116, and the sleeve 113 is fixed to the top surface of the housing 116. This ensures that the guide of the transmission rod and the support of the hydraulic cylinder are both based on the same robust rigid foundation, reducing the additional stress caused by different foundation deformations of various components. This ensures the alignment accuracy between the piston rod 115 and the sleeve 113, reduces the risk of uneven wear and leakage, and thus guarantees long-term efficient energy conversion.

[0055] In some embodiments of this specification, the limiting device 131 is a mechanical limiting block that can be electrically locked. When the limiting device 131 is locked, it can prevent the first transmission rod 111 from sliding relative to the sleeve 113.

[0056] In this embodiment, the limiting device 131 can be an electrically lockable mechanical limiting block. This mechanical limiting block is connected to an electrically controlled drive mechanism (such as an electromagnet, a lead screw driven by a servo motor, or a linear motor). Upon receiving an electrical signal command from the control device 400, the drive mechanism can quickly and accurately push or pull the mechanical limiting block. In the locked state, the mechanical limiting block contacts the body of the first transmission rod 111 and applies a radial clamping force, completely preventing the transmission rod from sliding axially relative to the sleeve 113 through friction or mechanical interlocking. In the released state, the drive mechanism reverses its action, separating the mechanical limiting block from the transmission rod, restoring sufficient clearance, and allowing the transmission rod to slide freely. The electrical control method enables millisecond-level command response and action execution, making the switching of the working mode (from coupling / heave mode to pitch mode) extremely rapid, keeping up with dynamically changing wave conditions.

[0057] Please refer to Figure 4 and Figure 5 The diagrams shown below illustrate the structural schematics of the pitch energy conversion components in the embodiments of this specification. Figure 4 and Figure 5 As shown in some embodiments of this specification, the second transmission mechanism includes a second transmission rod 121, a round rod 124, a rotary bearing 125, a first gear 122, and a second gear 123. The first end of the second transmission rod 121 is fixedly connected to the wave energy float 103. The second end of the second transmission rod 121 is fixedly connected to the round rod 124. The round rod 124 passes through the rotary bearing 125, which is mounted on the floating wind turbine platform 200. The round rod 124 passes through and is fixedly connected to the first gear 122. The first gear 122 meshes with the second gear 123, and the second gear 123 is connected to the input shaft of the rotary generator 120.

[0058] In this embodiment, the second transmission mechanism may include a second transmission rod 121, a round rod 124, a rotary bearing 125, a first gear 122, and a second gear 123. The second transmission rod 121 is a rigid transmission rod, with its first end (the end connected to the float) fixedly connected to the wave energy float 103. This allows the pitch (roll) rotation of the float to be effectively transmitted to the transmission rod while avoiding the introduction of unnecessary constraint forces. The second end (power output end) of the second transmission rod 121 is fixedly connected to the round rod 124. The round rod 124 is the rotational center of the entire pitch transmission mechanism. The round rod 124 passes through the rotary bearing 125. The outer surface of the round rod 124 is fixed to the inner ring of the rotary bearing 125 and can drive the inner ring to rotate relative to the outer ring of the rotary bearing 125. The outer ring of the rotary bearing 125 is mounted on the floating wind turbine platform 200. The round rod 124 passes through the first gear 122 and is fixedly connected to the first gear 122, causing the first gear 122 to rotate synchronously with the round rod 124. That is, the hollow inner surface of the first gear 122 is fixedly connected to the outer surface of the round rod 124. The first gear 122 meshes with the second gear 123. The second gear 123 is mounted on the input shaft of the rotary generator 120, or transmits power to the rotary generator 120 through a coupling.

[0059] like Figure 4 As shown, in one embodiment, the second transmission rod 121 may include two transmission rods, the first ends of which are fixedly connected to both sides of the wave energy float 103, and the second ends of which are fixedly connected to both ends of the round rod 124. The rotary bearing 125 includes two rotary bearings 125. The two ends of the round rod 124 are fixedly connected to the inner surfaces of the two rotary bearings 125, respectively. The first gear 122 is disposed in the middle of the round rod 124.

[0060] When waves act on the wave energy float 103, causing it to pitch (roll) about a horizontal axis, the float will oscillate along with the wave energy float 103 because one or two second transmission rods 121 are fixed to it. The oscillation of the second transmission rod 121 drives the rigidly connected round rod 124 to rotate about the axis of the rotary bearing 125. The rotation of the round rod 124 drives the first gear 122 fixed to it to rotate synchronously. The first gear 122 drives the second gear 123 meshing with it, thereby increasing the rotational speed to a range suitable for the efficient operation of the rotary generator 120, ultimately driving the generator to generate electricity.

[0061] In the above embodiments, a rigid swing arm → central shaft → gear transmission chain is adopted, directly converting the oscillation of the float into the unidirectional rotation of the central shaft. The force flow path is clear and the mechanical efficiency is high. The fixed connection method avoids the gap and wear at the hinge, ensuring the reliability of long-term transmission. The introduction of a dedicated rotary bearing 125 as the support for the round rod 124 provides a high-precision, low-friction, high-load-bearing capacity, and long-life rotational reference compared to the simple design of using the transmission rod itself as the shaft. In particular, the two-point support optimization scheme of two bearings significantly improves the rotational stiffness and dynamic stability of the round rod 124, effectively suppresses the vibration and deflection of the shaft system, creates ideal conditions for the smooth and efficient meshing of the gears, and ensures the power generation efficiency and durability of the pitching mode.

[0062] In one embodiment, the second transmission rod 121 can be fixedly connected to the housing 116 of the hydraulic actuator, thereby achieving a fixed connection with the wave energy float 103. In this embodiment, the first end (power input end) of the second transmission rod 121 is not directly connected to the body of the wave energy float 103, but is fixedly connected to the housing 116 of the hydraulic actuator. Since the housing 116 of the hydraulic actuator itself, together with the first end of the first transmission rod 111 (rigidly connected to the float) and the sleeve 113 (fixed to the platform or housing 116), constitute a rigid motion association with the wave energy float 103, when the float undergoes pitching motion, this motion will force the housing 116 of the hydraulic actuator to produce a corresponding tilt or swing relative to the platform through the first transmission rod 111.

[0063] In some embodiments of this specification, the mode switching mechanism may include a locker for locking the rotation of the second transmission mechanism in heave mode, the locker acting on the second transmission mechanism or the first gear 122 such that the pitch energy conversion component is turned off in heave mode.

[0064] In this embodiment, by introducing a locking device that acts on the key rotating component of the pitch transmission chain, the pitch energy path is physically blocked, which is the core guarantee for realizing the heave mode. The locking device can be configured to act directly on the rotating part of the second transmission mechanism. For example, the locking device can act on the rotating shaft of the round rod 124, or directly on the first gear 122 that rotates synchronously with the round rod 124. The locking device is a controllable braking or locking device, such as an electromagnetic brake, hydraulic clamp, or pop-out mechanical locking pin. Upon receiving the "lock" command from the control system, its actuating component (such as a brake pad, jaw, or locking pin) moves rapidly, generating friction or mechanical interlock with the rotating transmission rod or gear, applying sufficient resistance torque to completely stop its rotation. When the power generation device needs to operate in the heave mode, the locking device is activated. The locking device locks the round rod 124 or the first gear 122, so that the pitch motion degree of freedom of the float is directly suppressed mechanically, the wave energy float 103 cannot drive the transmission chain, and the input shaft of the rotary generator 120 stops rotating. At this point, the energy input and output of the pitch energy conversion component are cut off, achieving shutdown. In this embodiment, compared to simply cutting off the generator circuit (electrical shutdown), directly locking the mechanical transmission stops the motion at its source. This ensures that in heave mode, the float-platform system is completely unaffected by the dynamics of pitch energy capture behavior, responds quickly, and has strong switching determinism. This allows the system's dynamic characteristics to be purely dominated by the heave mode, avoiding mutual interference between modes.

[0065] This specification also provides an integrated wind and wave power generation system in its embodiments. Please refer to... Figure 6 This diagram illustrates the structure of the integrated wind and wave power generation system as described in the embodiments of this specification. Figure 6 As shown, the wind and wave integrated power generation system may include: a multi-degree-of-freedom wave energy generation device 100, a floating wind turbine platform 200, a wave sensing device 300, and a control device 400. The multi-degree-of-freedom wave energy generation device 100 is the same as in any of the above embodiments, and is integrated with the floating wind turbine platform 200. The wave sensing device 300 is used to collect wave information in the sea area where the floating wind turbine platform 200 is located. The control device 400 is communicatively connected to the mode switching mechanism of the wave sensing device 300 and the multi-degree-of-freedom wave energy generation device 100. The control device 400 is configured to control the mode switching mechanism based on wave information to switch the wave energy generation device to a target operating mode. The target operating mode may include one of the following: heave mode, pitch mode, and coupling mode.

[0066] The wind and wave integrated power generation system in this embodiment achieves a shift from passively adapting to waves to actively matching and optimizing them by placing the aforementioned switchable multi-degree-of-freedom wave energy generation device 100 within a framework integrating sensing, decision-making, and control. The floating wind turbine platform 200, serving as the system's foundation, is typically a semi-submersible or ship-mounted platform, on which wind turbine generators are installed. The multi-degree-of-freedom wave energy generation device 100 is integrated and installed at a suitable location on the floating wind turbine platform 200 (such as the side or under the platform). The multi-degree-of-freedom wave energy generation device 100 shares mooring systems, power collection facilities, and other infrastructure with the platform, achieving deep physical integration and cost-effectiveness in wind and wave energy development. The wave sensing device 300 is used to collect wave information in real time in the sea area where the floating wind turbine platform 200 is located. The control device 400 establishes a bidirectional connection with the wave sensing device 300 and the mode switching mechanism of the wave energy generation device via wired or wireless communication. The control device 400 processes the received wave information to send control commands to the mode switching mechanism (such as the limit device 131 or the locker) to drive the wave energy generation device to switch to the target working mode (sway mode, pitch mode or coupling mode).

[0067] In the aforementioned system, by deeply integrating the switchable multi-degree-of-freedom wave energy generation device 100 with the floating wind turbine platform 200, wave sensing device 300, and control device 400, the wave energy generation device can be proactively and accurately pre-configured to the optimal operating mode (heave, pitch, or coupling mode) based on the early perception and prediction of incoming waves. This not only synergistically improves the overall power generation efficiency and output quality of wind power and wave energy, but also intelligently switches to the platform stability mode under severe sea conditions, actively suppressing platform movement to significantly reduce structural load and fatigue damage. Ultimately, while realizing the intensive utilization of marine space and infrastructure, it achieves multi-objective synergistic optimization of power generation revenue, structural safety, and full life-cycle economics.

[0068] In some embodiments of this specification, the wave sensing device 300 may include a floating wave sensor disposed upstream of the floating wind turbine platform 200 in the wave-facing direction.

[0069] In this embodiment, the wave sensing device 300 can be a floating wave sensor positioned upstream of the floating wind turbine platform 200 in the wave-facing direction. By pre-deploying the sensor along the wave propagation path, the system can accurately acquire the wave characteristics (such as wave height, period, and direction) of the wave energy float 103 one or more wave cycles in advance. This provides a prediction window for the control device 400, allowing the system to calculate the optimal target operating mode and pre-configure the mode switching before the waves reach the device. This transforms the capture efficiency of the wave energy power generation device and the platform stability control from a passive reactive approach to an active preparatory approach. This not only maximizes the opportunity to capture random wave energy but, more importantly, provides crucial time for activating platform protection modes (such as switching to motion suppression mode) in extreme sea conditions, significantly enhancing the survivability and reliability of the entire wind and wave integrated system under harsh sea conditions.

[0070] In some embodiments of this specification, the hydraulic generator 110 and the rotary generator 120 are mounted on the floating wind turbine platform 200. The wind and wave integrated power generation system may also include a wind turbine 500 and mooring chains 600. The wind turbine 500 is mounted on the floating wind turbine platform 200, which is fixed to the seabed by multiple mooring chains 600. In this embodiment, the hydraulic generator 110 and the rotary generator 120 are mounted on the floating wind turbine platform 200. The system, as a fundamental attribute of the wind and wave integrated power generation unit, reveals the spatial reuse of wind energy and wave energy on the same platform and the synergistic complementarity of power output.

[0071] This specification also provides a control method in its embodiments. The control method is applied to the integrated wind and wave power generation system described in any of the above embodiments. Figure 7 A flowchart of a control method according to one embodiment of this specification is shown. While this specification provides method operation steps or apparatus structures as illustrated in the following embodiments or figures, more or fewer operation steps or module units may be included in the method or apparatus based on conventional or non-inventive effort. In steps or structures where there is no logically necessary causal relationship, the execution order of these steps or the module structure of the apparatus is not limited to the execution order or module structure described in the embodiments and figures of this specification. When the method or module structure is applied in a practical device or terminal product, it can be executed sequentially or in parallel (e.g., in a parallel processor or multi-threaded processing environment, or even a distributed processing environment) according to the method or module structure shown in the embodiments or figures.

[0072] Specifically, such as Figure 7 As shown, a control method provided in one embodiment of this specification may include the following steps: Step S701: Obtain wave information of the sea area where the floating wind turbine platform is located.

[0073] The control method in this embodiment can be applied to the wind-wave integrated power generation system described in any of the above embodiments, and particularly to the control device in the wind-wave integrated power generation system. It can acquire the environmental information required for decision-making. Key wave information affecting the sea area where the floating wind turbine platform is located in the current and short-term future can be acquired through wave sensing devices (such as wave radar and buoys) deployed on the sea surface. Core parameters include wave significant height, characteristic period, and wave direction. Preferably, as in the aforementioned embodiments, upstream sensors are used to achieve forward sensing and prediction.

[0074] Step S702: Based on the wave information, determine the expected performance data of the multi-degree-of-freedom wave energy power generation device of the wind-wave integrated power generation system in each of the multiple working modes; the multiple working modes include: heave mode, pitch mode and coupling mode.

[0075] For the currently acquired wave information (typically including characteristic wave height, characteristic period, wave direction, etc.), the expected performance of a multi-degree-of-freedom wave energy generation device under each selectable operating mode (heave, pitch, coupled mode) can be quantitatively evaluated. In one embodiment, this can be determined through numerical simulation. The wave information can be input into a pre-established simulation model of the wind-wave integrated power generation system for numerical simulation to obtain the expected performance data for each operating mode. In another embodiment, the model can be pre-trained, with the training sample set including multiple wave information data from historical time periods and the corresponding measured performance data for each operating mode. The obtained wave information can be input into the trained prediction model to obtain the expected performance data for each operating mode. The expected performance data may include the expected power generation and the expected motion response of the floating wind turbine platform.

[0076] Step S703: Determine the target operating mode of the multi-degree-of-freedom wave energy generation device based on the expected performance data of each operating mode among the multiple operating modes.

[0077] Based on the expected performance data for each mode, and according to preset optimization goals, decision logic can be executed to select the final target working mode to be executed. The specific decision rules are implemented according to different optimization goals.

[0078] In one embodiment, if the optimization objective is to maximize power generation, the expected power generation data under the three modes are directly compared, and the mode with the highest expected power generation is selected as the target operating mode.

[0079] In another embodiment, if the optimization objective is to minimize the platform motion response, the expected platform motion response data (which may be for a certain degree of freedom or a comprehensive index) under the three modes are compared, and the mode with the smallest expected motion response is selected as the target working mode.

[0080] In another embodiment, if the optimization objective is to comprehensively consider power generation and platform motion response, the control device will invoke a weighted evaluation function. The system calculates the evaluation function values ​​under three modes respectively, and selects the mode that yields the optimal (usually the maximum) function value as the target operating mode. The weighting coefficients can be dynamically adjusted according to the actual operating strategy (emphasizing power generation or safety).

[0081] Step S704: Control the mode switching mechanism of the multi-degree-of-freedom wave energy power generation device to perform a switching operation, so that the multi-degree-of-freedom wave energy power generation device is in the target working mode.

[0082] The control device can send specific switching commands to the mode switching mechanism of the wave energy power generation device (such as the electronic control unit that controls the locking / releasing of the limit device, and the driver that controls the action of the locker). The corresponding mechanical components of the mode switching mechanism move, thereby physically reconstructing the energy capture path of the power generation device and enabling it to enter the target operating mode.

[0083] In the above embodiments, a wave prediction-based operating mode is implemented in the wind and wave integrated system. By utilizing pre-stored performance mapping relationships, the expected performance of the power generation device under different modes can be determined based on real-time wave information. Then, the target operating mode of the power generation device is determined based on preset optimization objectives. This fundamentally changes the inherent fixed frequency response characteristics of wave energy power generation devices, enabling them to dynamically select between heave mode, pitch mode, and coupling mode according to real-time sea conditions. This significantly broadens the high-efficiency energy capture frequency band of the power generation device, solves the core problem of insufficient adaptability of traditional fixed-mode devices under wide-band sea conditions, significantly improves the power generation efficiency under all operating conditions, and, more importantly, buys time for the system to enter the protective operation mode in advance under severe sea conditions, ensuring the safety of the platform structure and the stable operation of the wind turbine, and achieving a synergistic leap in power generation performance and system reliability.

[0084] In some embodiments of this specification, obtaining wave information in the sea area where the floating wind turbine platform is located may include: receiving real-time wave information from a wave sensing device; the real-time wave information includes the wave propagation speed at the current moment; calculating the wave propagation time difference required for the wave to travel from the wave sensing device to the multi-degree-of-freedom wave energy generation device based on the relative position of the wave sensing device and the multi-degree-of-freedom wave energy generation device and the wave propagation speed; predicting the wave parameters acting on the multi-degree-of-freedom wave energy generation device at a future target time based on the real-time wave information and the wave propagation time difference; the future target time is the time corresponding to the wave propagation time difference after the current time.

[0085] In this embodiment, forward prediction of waves acting on the power generation device can be achieved through physical calculations using data measured by an upstream wave sensor. Real-time wave information (including wave propagation speed) from an upstream wave sensing device can be received. Based on the relative position between the sensor and the wave energy generation device and the wave propagation speed, the time difference (Δt1) required for the wave to propagate from the sensor to the device is calculated. Then, by shifting the wave parameters measured by the sensor at the current time (t0) through this time difference and applying necessary attenuation corrections, the wave parameters acting on the power generation device at a future target time (t0+Δt1), such as wave height and period, can be accurately calculated.

[0086] The above embodiments enable the system to complete the calculation and switching preparation of the target operating mode before the actual impact of waves on the device. This not only effectively captures transient wave energy but also provides a critical time window for the system to proactively switch to a protective operating mode (such as switching to the mode with the strongest suppression of platform motion) before extreme sea conditions arrive. This greatly enhances the survivability, operational safety, and reliability of the entire integrated system under harsh sea conditions. Furthermore, this prediction method is based on mature wave propagation physics principles, ensuring reliable calculations and providing high-quality, highly reliable input information for intelligent control.

[0087] In some embodiments of this specification, based on the wave information, the expected performance data of the multi-degree-of-freedom wave energy generator of the wind-wave integrated power generation system in various operating modes is determined, including: based on the pre-stored performance mapping relationship and the wave information, determining the expected performance data of the multi-degree-of-freedom wave energy generator of the wind-wave integrated power generation system in various operating modes; the performance mapping relationship is associated with the expected performance of the multi-degree-of-freedom wave energy generator in heave mode, pitch mode and coupling mode under different wave conditions.

[0088] In this embodiment, the control device can use the acquired wave information as input to query a pre-established and stored performance mapping database. The pre-stored performance mapping can be the expected performance data (e.g., expected performance data may include average power generation and the amplitude of the key platform motion response) of a multi-degree-of-freedom wave energy generation device operating in heave mode, roll mode, and coupled mode under various wave conditions (wave height, period combination) calculated and stored in advance through numerical simulation or model experiments. The control device can then retrieve the corresponding expected performance data for heave mode, roll mode, and coupled mode from the pre-established performance mapping based on the wave information.

[0089] In the above embodiments, since the performance mapping relationship is pre-calculated based on accurate numerical simulation, covering all operating conditions, the decision-making based on this avoids the uncertainties caused by model simplification, parameter errors, or convergence problems in the online control algorithm. The query results are deterministic, repeatable, and verified, ensuring the consistency and reliability of the control strategy under different sea states. Complex multibody coupling dynamics calculations are extracted from the real-time control loop and transformed into millisecond-level query operations on the static database. This enables the control system to complete performance evaluation in a very short time, meeting the requirements of wave energy devices for rapid mode switching (to adapt to changing waves), which is a prerequisite for the realization of feedforward control.

[0090] In some embodiments of this specification, the expected performance includes power generation and / or platform motion response, and the optimization objective for determining the target operating mode is to maximize power generation, minimize platform motion response, or comprehensively consider power generation and platform motion response.

[0091] In this embodiment, the expected performance based on the control device when making mode decisions includes two key indicators: power generation and / or platform motion response. Based on this, a clear optimization objective can be pre-set. This objective is not fixed but can be flexibly selected from the following three strategies according to actual needs. The first strategy is to maximize power generation. Under this objective, the control system will always select the mode with the highest expected power generation under predicted wave conditions as the target operating mode. This is suitable for normal sea states and aims to maximize energy output. The second strategy is to minimize platform motion response. Under this objective, the control system will prioritize the mode with the best suppression effect on platform motion (especially heave and pitch affecting wind turbine safety) and the smallest expected motion response under predicted wave conditions. This is mainly used in extreme or severe sea states, with the core objective of ensuring the structural safety of the platform and wind turbine. The third strategy is to comprehensively consider power generation and platform motion response. Under this objective, the control device will select a mode that achieves the best balance between power generation and motion risk based on a weighted evaluation function. For example, in moderate sea states, a slight increase in platform motion can be allowed in exchange for a significant increase in power generation.

[0092] In the above embodiments, by setting multiple optimization objectives, the operational strategy can be configured on demand, greatly improving the system's practicality. The core optimization objectives can be dynamically adjusted based on season, sea state forecasts, grid demand, or platform health status, enabling the same system to flexibly serve different primary tasks such as maximum power generation or highest security, meeting complex and ever-changing practical engineering needs. In particular, by comprehensively considering the strategy, the system is no longer pursuing a single, either-or objective, but can autonomously and quantitatively weigh the often conflicting goals of power generation and security. This embodiment connects predictive information with a performance database and configurable optimization objectives, forming a complete and clearly guided intelligent decision-making chain, ensuring that predictive capabilities are used efficiently and correctly to improve economic efficiency or ensure safety.

[0093] In some embodiments of this specification, the pre-stored performance mapping relationship is obtained in advance through numerical simulation. The numerical simulation is performed on the parameterized model of the wind-wave integrated power generation system, calculating its power generation and platform motion response under full-condition wave conditions in the heave mode, the pitch mode and the coupling mode respectively.

[0094] In this embodiment, based on the parameterized model of the integrated wind and wave power generation system (including the specific dimensions, mass, hydrodynamic coefficients, etc. of the floating platform and wave energy generation device), numerical methods such as potential flow theory and multibody coupled dynamics equations can be used to systematically simulate and calculate the key outputs of the model under all expected possible wave conditions (i.e., full operating conditions, typically a matrix with wave height and period as variables), specifically in heave mode, pitch mode, and coupled mode. These outputs are the power generation and platform motion response (such as the motion amplitude of each degree of freedom). The correspondence between these inputs (wave conditions, operating modes) and outputs (performance data) is stored, forming the performance mapping relationship used for control queries. Numerical simulation can accurately predict the complex coupled response of the entire integrated system under various sea states and modes before the construction of a physical prototype, or when a full-coverage physical model test is not possible. This avoids the costly full-scale sea trials or scaled-down tank tests, obtaining a full-coverage digital performance map at extremely low cost, which is a key guarantee for engineering feasibility.

[0095] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on describing the differences from other embodiments. For details, please refer to the foregoing descriptions of the relevant processing embodiments; they will not be repeated here.

[0096] The foregoing has described specific embodiments of this specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in a different order than that shown in the embodiments and may still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require the specific or sequential order shown to achieve the desired result. In some embodiments, multitasking and parallel processing are possible or may be advantageous.

[0097] The above system and method will now be described with reference to a specific embodiment. However, it is worth noting that this specific embodiment is only for better illustration of this specification and does not constitute an improper limitation of this specification.

[0098] This specific embodiment provides an integrated wind and wave power generation system and control method. Please refer to... Figure 6 This diagram illustrates the structure of the integrated wind and wave power generation system described in this specification. In this specific embodiment, the integrated wind and wave power generation system may include a multi-degree-of-freedom wave energy generation device 100, a floating wind turbine, and a floating wave sensor (i.e., a wave sensing device 300). The floating wind turbine includes a wind turbine 500, a floating wind turbine platform 200, a mooring chain 600, and an information transmission and processing center (i.e., a control device 400). The floating wave energy sensor and the floating wind turbine are connected to the same point via the mooring chain 600, located in the direction of incoming waves. Figures 1 to 5As shown, the multi-degree-of-freedom wave energy power generation device 100 includes a wave energy float 103, a first transmission rod 111, a flange bearing 114, a limiting device 131, a sleeve 113, a hydraulic pipeline 112 (e.g., a hose), a hydraulic generator 110, a second transmission rod 121, a first gear 122, and a rotary generator 120. The multi-degree-of-freedom wave energy power generation device 100 has three power generation modes: power generation from heave motion only relative to the floating platform, power generation from pitching motion only relative to the floating platform, and power generation from both heave and pitching motions relative to the floating platform simultaneously. The wave energy float 103 is fixed to the first transmission rod 111, which is perpendicular to the center of the wave energy float 103. The first transmission rod 111 passes through the center of the flange bearing 114 and can slide relative to it. The other end of the first transmission rod 111 has a piston 115, which can slide relative to the sleeve 113. The sleeve 113 has a limiting device 131 at one end to prevent the first transmission rod 111 from disengaging from the sleeve 113, and an opening at the other end for connection to the hydraulic generator 110 via a hydraulic line 112. The sleeve 113 is fixed to the outer casing 116. The limiting device 131 can be used for locking control. One end of the second transmission rod 121 is fixed to the outer casing 116, and the other end is fixedly connected to the round rod 124. Both ends of the round rod 124 are fixedly connected to the inner ring of the rotary bearing 125. The rotary bearing 125 is fixed to the floating wind turbine platform 200. The first gear 122 passes through the round rod 124 and is fixed thereto. The first gear 122 meshes with the second gear 123, which can drive the rotary generator 120 to generate electricity.

[0099] In this specific embodiment, the control method includes the following steps: Wave parameters (amplitude, period) at the sensor's location are acquired using a floating wave sensor; then, based on the principle of wave transmission and superposition, the wave parameters of the wind-wave integrated system at the target location are calculated. The calculated wave parameters of the wind-wave integrated system at the target location are used as boundary condition inputs. Through numerical simulation and measured data, the power generation performance of the multi-degree-of-freedom wave energy generator 100 in the integrated system under all operating conditions is obtained in three cases: only relative heave motion, only relative pitch motion, and simultaneous relative heave and relative pitch motion. The motion of the floating platform under these three cases is also obtained. Based on the selected optimal target (minimum floating platform motion or maximum wave energy generator power output), the operation control method of the integrated power generation system is implemented by controlling the motion degrees of freedom of the wave energy generator.

[0100] The steps for calculating the wave parameters of the wind-wave integrated system at the target location are as follows: using a floating wave sensor to obtain the wave parameters at time t0 outside the wind-wave integrated system; calculating the time Δt1 for the wave to travel from the floating wave sensor to the wind-wave integrated system based on the distance L1 from the floating wave sensor to the wind-wave integrated system and the wave velocity; obtaining the wave parameters at time t0+Δt1 in the wind-wave integrated system field area; calculating the attenuation coefficient of the wave in the wind-wave integrated system field area after traveling from the outside of the wind-wave integrated system field area for time Δt1; and considering the attenuation coefficient, obtaining the wave parameters at the location of the wind-wave integrated system field area at time t0+Δt1 based on the principle of wave transmission and superposition.

[0101] The above data on the power generation of the floating platform and wave energy generator in the integrated system under all operating conditions.

[0102] Using the physical model parameters of the integrated system consisting of a floating wind turbine and a wave energy power generation device, numerical calculations were performed to pre-determine the power generation performance of the multi-degree-of-freedom wave energy power generation device 100 in the integrated system under three conditions: only relative heave motion, only relative pitch motion, and simultaneous relative heave and relative pitch motion, as well as the motion of the floating platform under the three conditions.

[0103] The wave conditions at the location of the wind-wave integrated system at time t0+△t1 are compared with the pre-obtained wave conditions required for the wind-wave integrated system data under all operating conditions at the information processing center to obtain the motion of the floating platform and the power generation of the wave energy generator under the current operating conditions.

[0104] The motion response of the floating platform in various directions includes one or more of the following: sway, roll, heave, pitch, yaw, and bow roll.

[0105] By obtaining the wave parameters of the wind-wave integrated system site location at time t0+△t1, the motion of the floating platform under the current operating conditions, and the power generation of the wave energy generator, the power generation capacity of the wave energy generator and its effect on the motion of the floating platform are determined under the three conditions.

[0106] Based on the set optimal objectives, the limit device 131, hydraulic generator 110, and rotary generator 120 are controlled to achieve final operational control. The optimal objectives may include one of the following: optimal power generation, minimum floating platform movement, or a comprehensive consideration of power generation and platform movement.

[0107] Please refer to Figure 8 and Figure 9 The graphs show the power generation curves and the floating platform motion curves under different wave conditions. For example, when the wave condition is T=4s, according to... Figure 8As shown by the curve, the wave energy power generation device generates the most power in the swaying state only, the power generation is moderate in the heaving state only, and the power generation is the least in the heaving + swaying state. Figure 9 As shown by the curves, the floating platform's motion reaches its maximum in the swaying state only, its maximum moderate motion in the heave state only, and its minimum motion in the heave + sway state. The power generation mode is selected based on the current wave conditions, choosing either the optimal power generation mode, the mode with the minimum floating platform motion, or a control strategy that comprehensively considers both power generation and platform motion. The control strategy can be set in advance based on the power generation curves and floating platform motion under different power generation modes to select and adjust the power generation mode.

[0108] The above scheme proposes an integrated wind and wave power generation system, which can generate electricity under three operating conditions by introducing a multi-degree-of-freedom wave energy power generation device 100. It also proposes a control method for the integrated wind and wave power generation system, which realizes the operation control of the wave energy power generation device according to the conditions of the incident waves, thereby reducing the motion of the floating platform and increasing the power generation capacity of the wave energy power generation device.

[0109] Based on the same inventive concept, this specification also provides a control device applied to the wind and wave integrated power generation system described in any of the above embodiments, as shown in the following embodiments. Since the principle of the control device in solving the problem is similar to that of the control method, the implementation of the control device can refer to the implementation of the control method, and repeated details will not be elaborated further. As used below, the terms "unit" or "module" can refer to a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated. Figure 10 This is a structural block diagram of a control device according to an embodiment of this specification, such as... Figure 10 As shown, it includes: an acquisition module 1001, a first determination module 1002, a second determination module 1003, and a control module 1004. The structure is described below.

[0110] The acquisition module 1001 is used to acquire wave information in the sea area where the floating wind turbine platform is located.

[0111] The first determining module 1002 is used to determine the expected performance data of the multi-degree-of-freedom wave energy power generation device of the wind-wave integrated power generation system in various working modes based on the wave information; the various working modes include: heave mode, pitch mode and coupling mode.

[0112] The second determining module 1003 is used to determine the target operating mode of the multi-degree-of-freedom wave energy power generation device based on the expected performance data of each operating mode among the multiple operating modes.

[0113] The control module 1004 is used to control the mode switching mechanism of the multi-degree-of-freedom wave energy power generation device to perform a switching operation, so that the multi-degree-of-freedom wave energy power generation device is in the target working mode.

[0114] This specification also provides a computer device, which can be found in the following description. Figure 11 The diagram shown illustrates the structural composition of a computer device based on the control method provided in the embodiments of this specification. Specifically, the computer device may include an input device 1101, a processor 1102, and a memory 1103. The memory 1103 stores processor-executable instructions. When the processor 1102 executes the instructions, it implements the steps of the control method described in any of the above embodiments.

[0115] In this embodiment, the input device can specifically be one of the main devices for information exchange between the user and the computer system. The input device may include a keyboard, mouse, camera, scanner, light pen, handwriting input tablet, voice input device, etc.; the input device is used to input raw data and programs for processing these data into the computer. The input device can also receive data transmitted from other modules, units, and devices. The processor can be implemented in any suitable manner. For example, the processor can take the form of a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro)processor, logic gates, switches, application-specific integrated circuits (ASICs), programmable logic controllers, and embedded microcontrollers, etc. The memory can specifically be a memory device used to store information in modern information technology. The memory can include multiple layers; in digital systems, anything that can store binary data can be considered memory; in integrated circuits, a circuit without physical form but with storage function is also called memory, such as RAM, FIFO, etc.; in a system, a storage device with physical form is also called memory, such as a memory stick, TF card, etc.

[0116] In this embodiment, the specific functions and effects implemented by the computer device can be explained by comparison with other embodiments, and will not be repeated here.

[0117] This specification also provides a computer storage medium based on a control method, wherein the computer storage medium stores computer program instructions that, when executed, implement the steps of the control method described in any of the above embodiments.

[0118] In this embodiment, the storage medium includes, but is not limited to, random access memory (RAM), read-only memory (ROM), cache, hard disk drive (HDD), or memory card. The memory can be used to store computer program instructions. The network communication unit can be an interface configured according to standards specified in the communication protocol for network connection communication.

[0119] In this embodiment, the specific functions and effects implemented by the program instructions stored in the computer storage medium can be explained by comparison with other embodiments, and will not be repeated here.

[0120] Obviously, those skilled in the art will understand that the modules or steps of the embodiments described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. Optionally, they can be implemented using computer-executable program code, thereby storing them in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those presented herein, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the embodiments of this specification are not limited to any particular combination of hardware and software.

[0121] It should be understood that the above description is for illustrative purposes and not for limitation. Many embodiments and applications beyond the provided examples will be apparent to those skilled in the art upon reading the above description. Therefore, the scope of this specification should not be determined by reference to the above description, but rather by reference to the foregoing claims and the full scope of their equivalents.

[0122] The above description is merely a preferred embodiment of this specification and is not intended to limit this specification. Various modifications and variations can be made to the embodiments described herein by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this specification should be included within the scope of protection of this specification.

Claims

1. A multi-degree-of-freedom wave energy generation device, characterized in that, Integrated into the floating wind turbine platform, including: Wave-energy buoys are used to directly withstand wave forces to generate heave and / or pitching motion relative to the floating wind turbine platform. The heave energy conversion component includes a first transmission mechanism and a hydraulic generator. A first end of the first transmission mechanism is rigidly connected to the wave energy float, and a second end of the first transmission mechanism is connected to the hydraulic generator. It is used to convert the relative heave motion between the wave energy float and the floating wind turbine platform into electrical energy. The pitch energy conversion component includes a second transmission mechanism and a rotary generator. The first end of the second transmission mechanism is fixedly connected to the wave energy float, and the second end of the second transmission mechanism is connected to the rotary generator. It is used to convert the relative pitch motion between the wave energy float and the floating wind turbine platform into electrical energy. The mode switching mechanism can selectively activate or deactivate the heave energy conversion component and the pitch energy conversion component, thereby switching the device between heave mode, pitch mode, and coupling mode. In heave mode, the pitch energy conversion component is deactivated, and the device generates electricity through the heave energy conversion component. In pitch mode, the heave energy conversion component is deactivated, and the device generates electricity through the pitch energy conversion component. In coupling mode, both the heave energy conversion component and the pitch energy conversion component are activated, and the device generates electricity through both the heave energy conversion component and the pitch energy conversion component.

2. The multi-degree-of-freedom wave energy generation device according to claim 1, characterized in that, The first transmission mechanism includes a first transmission rod, a hydraulic actuator, and a hydraulic pipeline. The first transmission rod is vertically arranged, and its first end is rigidly connected to the middle position of the wave energy float. The second end of the first transmission rod is connected to the hydraulic actuator, and the hydraulic actuator is connected to the hydraulic generator through the hydraulic pipeline.

3. The multi-degree-of-freedom wave energy generation device according to claim 2, characterized in that, The hydraulic actuator includes: A sleeve is fixedly installed. The second end of the first transmission rod extends into the sleeve and can slide axially. The second end of the first transmission rod is provided with a piston, which forms a sliding sealing pair with the inner wall of the sleeve. The upper end of the sleeve is provided with a hydraulic interface, and the sleeve is connected to the hydraulic generator through the hydraulic pipeline via the hydraulic interface.

4. The multi-degree-of-freedom wave energy generation device according to claim 3, characterized in that, The hydraulic actuator also includes a flange bearing, which is fixedly mounted, and the first transmission mechanism passes through the flange bearing and can slide relative to it.

5. The multi-degree-of-freedom wave energy generation device according to claim 3, characterized in that, The mode switching mechanism includes a limiting device; the limiting device is disposed at the lower end of the sleeve, and the limiting device is used to prevent the second end of the first transmission rod from disengaging from the sleeve. The limiting device is also used to radially lock in the pitch mode, so that the first transmission rod and the sleeve are relatively stationary, thereby turning off the heave energy conversion component.

6. The multi-degree-of-freedom wave energy generation device according to claim 2, characterized in that, The hydraulic actuator includes a housing, a flange bearing, a piston, and a sleeve; the mode switching mechanism includes a limit device. The flange bearing is disposed inside the housing, and the lower surface of the flange bearing is fixed to the bottom surface of the housing. A first opening is provided on the bottom surface of the housing. The second end of the first transmission rod passes through the opening and the flange bearing, and the first transmission rod can slide relative to the flange bearing. A second opening is provided on the top surface of the outer casing, the upper end of the sleeve passes through the second opening, and the peripheral wall of the sleeve is fixedly connected to the edge of the second opening. A hydraulic interface is provided at the upper end of the sleeve, and the hydraulic interface is connected to the hydraulic generator through the hydraulic pipeline. The second end of the first transmission rod extends into the sleeve and can slide axially. The second end of the first transmission rod is provided with a piston, and the piston and the inner wall of the sleeve form a sliding sealing pair. The limiting device is disposed at the lower end of the sleeve. The limiting device is used to prevent the second end of the first transmission rod from disengaging from the sleeve. The limiting device is also used to lock in the pitch mode, so that the first transmission rod and the sleeve are relatively stationary, thereby turning off the heave energy conversion component.

7. The multi-degree-of-freedom wave energy generation device according to claim 5 or 6, characterized in that, The limiting device is a mechanical limiting block that can be electrically locked. When the limiting device is locked, it can prevent the first transmission rod from sliding relative to the sleeve.

8. The multi-degree-of-freedom wave energy generation device according to claim 1, characterized in that, The second transmission mechanism includes a second transmission rod, a round rod, a rotary bearing, a first gear, and a second gear; The first end of the second transmission rod is fixedly connected to the wave energy float, and the second end of the second transmission rod is fixedly connected to the round rod. The round rod passes through the rotary bearing, which is installed on the floating wind turbine platform. The round rod passes through the first gear and is fixedly connected to the first gear. The first gear meshes with the second gear, and the second gear is connected to the input shaft of the rotary generator.

9. The multi-degree-of-freedom wave energy generation device according to claim 8, characterized in that, The mode switching mechanism includes a locking device for locking the rotation of the second transmission mechanism in the heave mode. The locking device acts on the second transmission mechanism or the first gear, so that the pitch energy conversion component is turned off in the heave mode.

10. A wind and wave integrated power generation system, characterized in that, include: Floating wind turbine platform; The multi-degree-of-freedom wave energy generation device according to any one of claims 1 to 9 is integrated with the floating wind turbine platform; A wave sensing device is used to collect wave information in the sea area where the floating wind turbine platform is located; A control device is communicatively connected to the mode switching mechanism of the wave sensing device and the multi-degree-of-freedom wave energy generation device. The control device is configured to control the mode switching mechanism to switch the wave energy generation device to a target operating mode based on the wave information. The target operating mode includes one of the following: heave mode, pitch mode, and coupling mode.

11. The wind and wave integrated power generation system according to claim 10, characterized in that, The wave sensing device includes a floating wave sensor arranged upstream of the floating wind turbine platform in the wave-facing direction.

12. The wind and wave integrated power generation system according to claim 10, characterized in that, The hydraulic generator and the rotary generator are mounted on the floating wind turbine platform; The wind and wave integrated power generation system also includes a wind turbine and a mooring chain. The wind turbine is mounted on the floating wind turbine platform, which is fixed to the seabed by multiple mooring chains.

13. A control method, characterized in that, The control method is applied to the wind and wave integrated power generation system according to any one of claims 10 to 12, and the control method includes: Obtain wave information for the sea area where the floating wind turbine platform is located; Based on the wave information, the expected performance data of the multi-degree-of-freedom wave energy generation device of the wind-wave integrated power generation system are determined in each of the various working modes; the various working modes include: heave mode, pitch mode and coupling mode; Based on the expected performance data of each of the multiple operating modes, the target operating mode of the multi-degree-of-freedom wave energy generation device is determined. The mode switching mechanism of the multi-degree-of-freedom wave energy power generation device is controlled to perform a switching operation, so that the multi-degree-of-freedom wave energy power generation device is in the target working mode.

14. The control method according to claim 13, characterized in that, Obtain wave information for the sea area where the floating wind turbine platform is located, including: Receive real-time wave information from a wave sensing device; the real-time wave information includes the wave propagation speed at the current moment; Based on the relative positions of the wave sensing device and the multi-degree-of-freedom wave energy generation device and the wave propagation speed, calculate the wave propagation time difference required for the wave to travel from the wave sensing device to the multi-degree-of-freedom wave energy generation device. Based on the real-time wave information and the wave propagation time difference, the target wave parameters acting on the multi-degree-of-freedom wave energy generation device at the future target time are predicted; the future target time is the time corresponding to the wave propagation time difference after the current time.

15. The control method according to claim 13, characterized in that, Based on the wave information, the expected performance data of the multi-degree-of-freedom wave energy generation device of the wind-wave integrated power generation system are determined in various operating modes, including: Based on the pre-stored performance mapping relationship and the wave information, the expected performance data of the multi-degree-of-freedom wave energy generator of the wind-wave integrated power generation system in various working modes are determined; the performance mapping relationship is associated with the expected performance of the multi-degree-of-freedom wave energy generator in heave mode, pitch mode and coupling mode under different wave conditions.

16. The control method according to claim 13, characterized in that, The expected performance includes power generation and / or platform motion response. The optimization objective for determining the target operating mode is to maximize power generation, minimize platform motion response, or comprehensively consider both power generation and platform motion response.

17. The control method according to claim 15, characterized in that, The pre-stored performance mapping relationship is obtained in advance through numerical simulation. The numerical simulation is based on the parameterized model of the wind-wave integrated power generation system, and calculates its power generation and platform motion response under full-condition wave conditions in the heave mode, the pitch mode and the coupled mode respectively.

18. A computer device, characterized in that, It includes a processor and a memory for storing processor-executable instructions, wherein the processor, when executing the instructions, implements the steps of the method according to any one of claims 13 to 17.

19. A computer-readable storage medium storing computer instructions thereon, characterized in that, When the instructions are executed by the processor, they implement the steps of the method according to any one of claims 13 to 17.

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