TMD locking control method for motion suppression of semi-submersible platform

Abstract

The invention provides a TMD lockout control method for motion suppression of a semi-submersible platform, and the method comprises the steps: carrying out the frequency domain decomposition of a random wave predicted by a target sea condition, obtaining the energy distribution of each frequency component, obtaining the equivalent amplitude of each frequency component according to the energy distribution, considering the amplitude response of the platform under the action of waves of different frequencies, and achieving the motion suppression of the semi-submersible platform. The method comprises the following steps of: calculating a weight ratio of platform motion response caused by each frequency component under the action of random waves by integrating three types of information, namely amplitude, amplitude response and motion suppression effect, and finally carrying out weighted combination on the locking time corresponding to each frequency component according to the weight ratio, so as to obtain the motion suppression effect of the platform. And the optimal locking control time suitable for the current random wave is obtained. According to the method, a high-complexity non-causal control command does not need to be deduced, control parameters can be updated in real time according to short-term sea condition changes, pitching response of a platform is effectively reduced, and comprehensive optimization control over multi-frequency waves is achieved.

Description

Technical Field

[0001] This invention belongs to the field of offshore wind power technology. Specifically, it designs a TMD (Transient Damping) interlocking control method for motion suppression of semi-submersible platforms. Background Technology

[0002] Developing and utilizing green and abundant marine renewable energy sources is a key to addressing energy demand. Among these, wind energy is a rich renewable energy source, and developing offshore wind energy resources is an important way to achieve efficient energy utilization and sustainable development.

[0003] Wind energy boasts advantages such as high energy density, vast reserves, wide distribution, and mature development, making it one of the most promising renewable energy sources. Offshore wind energy resources are more stable and have higher intensity on a spatial scale, providing a continuous and reliable power input for large-scale power generation equipment.

[0004] In semi-submersible wind turbine platforms, due to the complexity of wave motion, the platform also experiences complex six-degree-of-freedom motion under wave action. Among these, pitching motion has the greatest impact on the platform's motion, severely affecting power generation and platform lifespan. Suppressing platform pitching motion is one of the main problems that needs to be solved. Using tuned mass dampers (TMDs) to suppress the platform's motion response is a common and effective passive motion suppression method: a TMD is built into the semi-submersible platform, and by applying lockout control to the TMD, the energy extracted by the TMD from the platform is increased, thereby reducing the platform's motion. However, traditional passive TMDs cannot be adjusted according to sea state changes once their parameters are set, and their adaptability to different wave frequencies is limited, making it difficult to maintain optimal vibration reduction performance under a wide range of sea states. Summary of the Invention

[0005] The purpose of this invention is to propose a TMD lockout control method for motion suppression of semi-submersible platforms. By introducing an active TMD control strategy, the TMD can maintain its optimal operating state over a wider frequency band, thereby significantly enhancing the overall motion suppression performance of the platform.

[0006] The present invention is implemented using the following technical solutions: A TMD (Transient Damping) lockout control method for motion suppression of semi-submersible platforms is proposed, including: Establish a time-domain model of a semi-submersible wind turbine platform and construct a TMD interlocking controller in the PTO system; Predicting wave components within a given future time period; Spectral analysis is performed on the predicted wave time series signal to calculate the energy distribution of each frequency component in the wave, and the equivalent amplitude of each frequency component is obtained based on the energy distribution. The equivalent amplitude of each frequency component is corrected by introducing a response amplitude operator and a pitch suppression ratio; The blocking control time is calculated using the correction results corresponding to each wave frequency as weighting coefficients. Computation-based time-of-use (TMD) interlocking control.

[0007] In some embodiments of the present invention, the constructed TMD interlocking controller is represented as follows: ; in, The damping coefficient of the interlocking controller; This is a control command, and its value is either 0 or 1, where 1 is for interlock control and 0 is for release; This represents the relative speed between the TMD and the platform.

[0008] In some embodiments of the present invention, a response amplitude operator and a pitch suppression ratio are introduced to correct the equivalent amplitude of each frequency component, including: wave frequency Under the following conditions, when using the locking time hour, In random waves The influence weights of the parts are expressed as follows: ; Then for Its influence over the entire random wave is the sum of the weighted influences on all frequency components, expressed as: ; The above, wave frequency amplitude; For the platform at wave frequency The response amplitude operator; To control time For frequency The pitch suppression effect is expressed as: , The pitch angle of the platform under uncontrolled conditions. The pitch angle of the platform under locked control.

[0009] In some embodiments of the present invention, the blocking control time is calculated using the correction results corresponding to each wave frequency as weighting coefficients, including: The total weight is obtained by summing the weights of the lockout times corresponding to all wave frequencies: ; Normalize the total weight to obtain the values ​​at each time step. The corresponding weight percentage; Based on the weighting of each frequency component, a weighted average of their corresponding optimal lockout times is calculated to obtain the comprehensive optimal lockout time under the current wave combination state. : .

[0010] In some embodiments of the present invention, the calculation-based latching control time control (TMD) includes: When the reciprocating speed of the TMD device passes the zero position, the interlocking controller activates the interlocking mechanism to lock the TMD in place and maintain the locked state continuously. Second; When the lockout duration reaches When the time comes, the controller issues an unlocking command to release the locking mechanism and restore the TMD's free movement.

[0011] Compared with existing technologies, the advantages and positive effects of this invention are as follows: The TMD (Transient Dynamics Control) lockout control method for motion suppression of semi-submersible platforms proposed in this invention decomposes the random waves predicted by the target sea state in the frequency domain to obtain the energy distribution of each frequency component. Based on the energy distribution, the equivalent amplitude of each frequency component is obtained. Simultaneously, considering the platform's amplitude response under different frequency wave actions and the actual contribution of the corresponding lockout time at each frequency to motion suppression, the method integrates the amplitude, amplitude response, and motion suppression effect to calculate the weight ratio of the platform's motion response caused by each frequency component under random wave action. Finally, the lockout times corresponding to each frequency component are weighted and combined according to their weight ratios to obtain the optimal lockout control time suitable for the current random wave. This invention's method does not require deriving highly complex non-causal control commands, can update control parameters in real time according to short-term sea state changes, has low computational load, and possesses high adaptability, speed, and engineering feasibility. Under random sea states, this invention's method can effectively reduce the platform's pitch response and achieve comprehensive optimized control of multi-frequency waves. Attached Figure Description

[0012] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0013] Figure 1 This is a schematic diagram of the steps of the TMD lockout control method for motion suppression of a semi-submersible platform proposed in this invention. Figure 2 This is a structural schematic diagram of a semi-submersible wind turbine platform; Figure 3 This is a schematic diagram of the numerical analysis of a semi-submersible wind turbine platform. Figure 4 This is a comparison chart of the platform pitch response variance under the active control method and the no-control and passive control methods shown in this invention. Detailed Implementation

[0014] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0015] This invention aims to provide a lockout control strategy for the TMD (Transport Mechanism) in a semi-submersible platform to optimize the platform's motion response. The lockout control is essentially a binary on / off control system; in the locked state, the TMD's motion is locked, i.e., energy absorption is suspended; in the unlocked state, the TMD is allowed to move freely and perform energy conversion.

[0016] Under regular wave conditions, the optimal platform motion suppression effect can be achieved by optimizing the lockout control time of the TMD (Transient Dynamic Damping). Furthermore, based on linear wave theory, irregular waves under random sea states can essentially be considered as the superposition of infinitely many regular wave frequency components. Therefore, the lockout time of the TMD under random waves can be calculated by weighted combination of the lockout times of multiple regular waves, thereby effectively increasing the energy absorbed by the TMD from the platform over a wide frequency band, thus reducing the overall motion response of the platform.

[0017] Based on the above analysis, the energy distribution of random waves at each frequency component can be obtained through frequency domain spectral analysis, which can then be transformed into the equivalent amplitude of each frequency wave constituting the random wave. Simultaneously, the motion response of the platform under the action of waves at different frequencies, i.e., the amplitude response operator of the platform, and the actual contribution of the corresponding lockout time at each frequency to motion suppression, are considered. By combining these three types of information, the weighting factor of the platform motion response caused by each frequency component under the action of random waves can be calculated. Finally, the lockout times corresponding to each frequency component are weighted and combined according to their weighting factors to obtain the weighted lockout time applicable to the wave spectrum, thereby approximately achieving optimized control of multi-frequency random waves.

[0018] To achieve dynamic optimization control of the lockout time, this method first performs short-term wave prediction under the current sea state. Then, it uses the predicted wave time-domain signal for spectral analysis to obtain the energy distribution of each frequency component in the random wave. Subsequently, the final lockout time within this time period is calculated using the aforementioned steps. This scheme allows the lockout control time to be adjusted in real-time according to changes in the wave spectrum. The controller can adjust the lockout rhythm based on real-time wave monitoring data, improving the device's adaptability to wide-spectrum irregular waves and its energy absorption efficiency, thereby dynamically suppressing platform motion response under complex sea conditions.

[0019] Specifically, such as Figure 1 As shown, the TMD lockout control method for motion suppression of semi-submersible platforms proposed in this invention is implemented according to the following steps: S1: Establish a time-domain model of the semi-submersible wind turbine platform and build a TMD interlocking controller in the PTO system.

[0020] First, numerical modeling and hydrodynamic analysis were performed on the semi-submersible wind turbine platform.

[0021] This embodiment designs a floating wind turbine platform system with an integrated TMD (Total Motion Detector). The entire device includes a semi-submersible platform, a brake, a PTO (Power Transfer) system, and other components. Three TMDs are installed inside the three column floats of the platform, and each TMD is connected to the platform via a PTO system equipped with a brake.

[0022] This invention utilizes the Design Model module in ANSYS software to establish a geometric model, and simultaneously employs WORKBENCH-AQWA for frequency domain hydrodynamic analysis.

[0023] First, the geometric modeling process is as follows: (1) Sketch and stretch the model to form a geometric model.

[0024] (2) Slice the model.

[0025] (3) Divide the waterline surface of the model.

[0026] (4) Generate model file and import it into AQWA.

[0027] After obtaining the model file, hydrodynamic analysis is performed on the model. The specific process is as follows:

[0028] (1) Define material parameters and establish the mass, center of gravity, etc. of the floating body.

[0029] (2) Add mooring to the floating body, and define the mooring material, anchor point connection position, etc.

[0030] (3) Divide the model mesh, set the mesh size and the range to be refined.

[0031] (4) Set environmental parameters, namely wave direction and wave frequency range.

[0032] (5) Run the simulation and perform frequency domain analysis on the platform.

[0033] (6) Results viewing and post-processing to obtain the hydrodynamic parameters of TMD.

[0034] Next, the hydrodynamic files in .AH1 and .LIS formats obtained from AQWA calculations are imported into WEC-Sim. A semi-submersible platform with an integrated built-in TMD is then built into WEC-Sim for subsequent time-domain simulations.

[0035] A PTO (Pulse-Transfer) is used to connect the built-in TMD (Transmitter-Driven Module) to the platform (a linear PTO is used here to simplify numerical calculations). Simultaneously, a latching controller is added to the TMD within the PTO system. When latching control is applied to the TMD, the PTO system generates additional braking force to control its movement, as shown below: ; in, The damping coefficient of the interlocking controller. This is a control command, and its value is either 0 or 1, where 1 is for interlock control and 0 is for release; This represents the relative speed between the TMD and the platform.

[0036] The locking controller's decision logic is to lock the TMD via the brake when the relative velocity of the TMD reaches zero. The braking force at this time is ,in, It is the force exerted on the TMD by the PTO system.

[0037] The TMD is released after the latching time is reached, that is... At this point, the additional braking force applied by the interlocking controller is zero, leaving only the force from the PTO system to the TMD. .

[0038] In this invention, the locking controller switches between the locked and released states based on the locking time calculated in real time under the current random wave conditions, so as to improve the energy absorption of the TMD in irregular wave environments and suppress the platform's pitching motion.

[0039] S2: Predict wave components for a future specified time period.

[0040] By acquiring real-time wave information through wave sensors installed near the platform, and estimating the wave surface undulation or wave excitation force timing over a future period based on historical wave data and current measurements.

[0041] In this embodiment of the invention, a short-time wave prediction method based on an autoregressive (AR) model is employed. The AR model assumes that wavefront evolution has weak stationarity over a short timescale and can be linearly represented by several historical samples, making it highly suitable for short-time prediction of irregular waves in local narrow bands. Specifically, the wavefront time series within the most recent time window is considered as input to a linear system. The AR coefficients are identified using the Burg algorithm, thereby constructing a local linear prediction model. Subsequently, a recursive structure is used to perform multi-step forward extrapolation of the model to obtain the future wavefront time history within the target prediction interval. This method offers high real-time performance and low computational cost, and has been widely used in the field of marine engineering, making it suitable for the short-time wave prediction requirements of this invention.

[0042] Based on the AR model, wavefront time sequence for: ; in, The autoregressive coefficient determines the first... The magnitude of the influence of historical samples on the current wavefront value It is the wavefront time history in time The value at time is a historical sample used to predict the wavefront equation at the current time. It is the autoregressive order. This is the noise term, representing unpredictable errors or random disturbances.

[0043] In this example, the wave height sequence at the current moment is obtained, and an appropriate analysis window is selected, approximately 2-4 spectral peak periods. The AR order is chosen based on empirical rules, typically 5-20. The Burg method is used for estimation to obtain the AR coefficient vector. Furthermore, based on the AR model, a recursive structure is used to perform multi-step forward prediction to obtain the future wavefront sequence within the prediction interval: ; in, For future moments The wavefront prediction value, where H is the maximum prediction step size, when hour, Take the corresponding measured value, when hour, By taking the predicted values ​​obtained from the previous recursive steps and performing the above recursive calculations, the wavefront time sequence for the next H steps can be obtained, providing a basis for subsequent spectrum analysis and lockout time calculation.

[0044] S3: Perform spectral analysis on the predicted wave time series signal, calculate the energy distribution of each frequency component in the wave, and obtain the equivalent amplitude of each frequency component based on the energy distribution.

[0045] The power spectral density of the wave signal is calculated using Fast Fourier Transform (FFT) to obtain the distribution of wave energy at different frequencies from the frequency domain perspective.

[0046] The parameters for spectrum analysis need to be set appropriately, including the sampling time interval Δ. The window function is determined based on the sensor sampling frequency. The Hanning window is used to reduce the impact of spectral leakage. The analysis duration is determined based on the wave prediction duration mentioned above. It can be adjusted according to the actual sea conditions to balance the requirements of frequency resolution and short-term wave stability.

[0047] Taking a 10-second analysis time as an example, the frequency resolution is approximately 0.1 Hz, while ensuring that the wave characteristics are approximately stable within this time period. Through the above spectral analysis steps, the power spectral density (PSD) distribution in the frequency domain is calculated, thereby obtaining the wave prediction signal at each discrete frequency. Energy density value at This refers to the wave energy per unit frequency interval, which provides data support for subsequent steps.

[0048] Based on the obtained frequency energy distribution, the frequency range that accounts for the main energy part is selected, and the range is divided at equal intervals. Finally, the equivalent amplitude of each discrete frequency component in the effective energy range is obtained, which prepares for subsequent data processing.

[0049] wavefront time history curve The components are: ;in, The amplitude corresponding to each wave component under a random wave is represented as: ; For wave frequency, The phase angle, For time. For frequency The energy density value at a given frequency can be used to calculate the amplitude of the frequency component.

[0050] Ignoring the frequency component, which accounts for a very small percentage of the total energy (less than 10%), helps reduce computational complexity without significantly reducing the accuracy of the final calculated latching time.

[0051] S4: The equivalent amplitude of each frequency component is corrected by introducing a response amplitude operator and a pitch suppression ratio.

[0052] To more accurately reflect the actual impact of wave frequency components on the platform's motion response and energy absorption, a response amplitude operator (RAO) is introduced to correct the frequency response capability when calculating the lockout time weighting coefficient, in addition to considering the equivalent wave amplitude of each frequency component in the random wave. The RAO characterizes the platform's amplitude response capability under a specific frequency excitation. Its physical meaning is: the response amplitude of the device in a certain degree of freedom under unit amplitude regular wave excitation; the unit is usually (m / m) or (rad / m), and can be obtained using frequency domain hydrodynamic analysis software such as WAMIT and AQWA.

[0053] The purpose of introducing RAO in this invention is that even if two frequency components have the same wave energy, the platform's response at one frequency may be significantly stronger than its response at the other frequency. Therefore, it is necessary to consider the energy response characteristics of each frequency component in the system rather than simply considering the wave load excitation energy.

[0054] Introducing RAO correction ensures that the control strategy not only considers the wave energy spectrum distribution but also the platform's response capabilities at various frequencies, thereby achieving a more physically consistent and more precise lockout time decision mechanism. In practice, RAO data can be calculated in the frequency domain using hydrodynamic analysis software.

[0055] In the response of a semi-submersible platform, each wave frequency The resulting motion response of the platform Wave amplitude in wave components and the corresponding response amplitude operator Proportional: ; It can be viewed as the wave frequency after RAO correction. Contribution to platform motion response.

[0056] Therefore, the platform response under the action of a random wave can be expressed as: .

[0057] This invention also incorporates platform roll suppression to correct the frequency response capability. Under regular waves, each wave frequency component... Corresponding locking time This will affect the platform's motion, specifically by increasing the energy absorption of the TMD to reduce the platform's motion response. The platform's motion response differs under the action of regular waves of different frequencies, and the degree of reduction in platform pitch also varies under corresponding lockout time control. This invention introduces a suppression rate to evaluate the platform's pitch reduction effect: ; in, The pitch angle of the platform under uncontrolled conditions. The motion response of the platform under interlocking control.

[0058] However, in random waves, the waves are composed of components of different frequencies. Therefore, the lockout time corresponding to a certain frequency will affect the wave components at other frequencies, causing a decoupling amplification effect and negatively impacting the suppression of platform motion. Considering this factor, the anti-roll effect can be expressed in matrix form. Wherein, For frequency The suppression effect is located on the diagonal of the matrix; The effect of suppressing other frequency wave components in random waves is located off-diagonally in the matrix.

[0059] Specifically, for a regular wave of a certain frequency, the blocking time corresponding to regular waves of other frequencies is used to observe the suppression effect on the regular wave of that frequency. Each frequency can be used to calculate The corresponding optimal latching time, and the suppression effect can ultimately be formed by... The matrix form: ; Located in the matrix Column, No. row elements To control time For frequency The pitch suppression effect can be expressed as: ; like A positive value indicates that the control time has a suppressive effect on the platform; a negative value indicates that the control time... For frequency The resulting response has a negative effect and can lead to control time. In total time The weight in it is reduced.

[0060] In summary, the latching time at each frequency affects all frequency components. When using latching time... hour, In random waves The influence weight of a portion can be expressed as: ; Then for Its influence over the entire random wave is the sum of the weighted influences on all frequency components, expressed as: .

[0061] S5: Calculate the lockout control time using the correction results corresponding to each wave frequency as weighting coefficients.

[0062] First, based on the frequency-lockout time correspondence, determine each major frequency. Optimal locking duration This correspondence was obtained through simulation: for a series of regular wave conditions at different frequencies, the locking effect of the TMD was calculated by simulating the system to find the locking control time that optimizes the platform's pitch suppression effect at each frequency, and the optimal locking time corresponding to each typical frequency was recorded. A lookup table is formed. In actual implementation, the main frequencies in the random wave are obtained. Then, the corresponding optimal locking time can be found based on the correspondence. .

[0063] Corresponding to all frequencies After calculation, all can be obtained in the end. The final time obtained by weighted combination. (This refers to all...) The total weights are obtained by adding the weights together: ; This represents the weighted sum of all time intervals. After normalization, we can obtain the values ​​for each time interval. The corresponding weight percentage reflects its contribution to the final calculation of the latching time. The contribution of each wave component is 1. This weighting is used to highlight the impact of the lockout time corresponding to each wave component on the lockout control under this sea state, laying the foundation for determining the overall lockout time.

[0064] Based on the weighting of each major frequency component, a weighted average of their corresponding optimal lockout times is calculated to obtain the comprehensive optimal lockout time under the current wave combination state. : ; The above expression can be written in simplified form: ; The weighted formula above yields the following results. This is equivalent to the energy-weighted average of the optimal lockout time for each frequency under the current wave energy spectrum conditions. When a certain frequency component of the wave is dominant... It will converge towards the time value of that frequency component. If multiple important frequency components exist, It then lies at some equilibrium point among the various time values.

[0065] This integrated lockout time reflects the estimated optimal lockout duration under the current random wave environment and serves as a key parameter for subsequent lockout control execution.

[0066] S6: Computation-based time-of-use (TMD) interlocking control.

[0067] The calculated weighted optimal locking time The control parameters set for the interlocking controller are applied to the interlocking controller of the device as interlocking time signals.

[0068] The control time for each stage is a weighted control time calculated based on wave prediction, and the control system is based on the latest... The interlocking control is executed. Specifically, when the movement of the TMD reaches the predetermined interlocking trigger condition, that is, when the reciprocating speed of the TMD device passes through the zero position, the interlocking controller immediately activates the interlocking mechanism to lock the moving parts of the device in place and maintain the locked state continuously. Second.

[0069] During the lockout period, the TMD device is temporarily braked, while the wave forces continue to act on the device and alter the system's energy state. When the lockout duration reaches [a certain value], [the system continues to operate]. When the time comes, the controller issues an unlocking command to release the locking mechanism and restore the free movement of the moving parts of the device.

[0070] After unlocking, the device moves under the influence of waves and absorbs energy through the energy conversion mechanism. This completes one lock-unlock control cycle.

[0071] Implementing lockout control according to the weighted optimal time allows the device's motion to achieve an ideal phase match with the wave force. By locking and waiting until the appropriate release time, the device's motion speed is more synchronized with the wave excitation, thereby significantly improving energy absorption efficiency.

[0072] It should be noted that the specific timing of locking and unlocking should be set in conjunction with the waveform phase information obtained from wave prediction to ensure that the unlocking time coincides with the peak value of the wave force, and to avoid energy loss or impact load caused by unlocking too early or too late.

[0073] S7: Implement dynamic adaptive updates based on changes in sea state.

[0074] To adapt to the dynamic changes in sea conditions, the above-mentioned wave prediction, spectrum analysis and lockout time calculation processes are continuously executed in a cyclical manner, that is, a new round of wave data prediction and lockout time updates are performed every once in a while.

[0075] The update frequency can be set according to actual needs: an excessively high update frequency may cause the control system to be overly sensitive to short-term fluctuations, while an excessively low update frequency may cause the system response to lag. An update interval of several seconds to tens of seconds can be selected to track changes in sea state in a timely manner while ensuring system stability.

[0076] Lockout time is updated periodically and dynamically. It can automatically adjust to changes in sea state factors such as wave frequency and wave height, ensuring that the TMD device always uses near-optimal lockout control parameters throughout operation. When the wave spectrum distribution drifts (e.g., a change in dominant frequency or energy redistribution), a new round of prediction and spectrum analysis will reflect this change, and the calculated... The corresponding changes are applied to subsequent control cycles, thus enabling the system to adaptively maintain a high energy conversion efficiency.

[0077] In addition, by adopting a strategy based on weighted summation of motion response contributions, the effects of minute noise and minor frequency disturbances in the wave signal on the lockout time are effectively filtered out, enhancing the robustness and stability of the control against random fluctuations.

[0078] In a specific embodiment of the invention, numerical simulations were performed on the system under no control, corresponding lockout time control under spectral peak period, and weighted calculation lockout time control. The pitch response of the semi-submersible platform was compared to demonstrate its pitch reduction performance under different conditions. The environmental conditions selected were the JONSWAP spectrum, with an effective wave height of 4m, a spectral peak period of 8s, and a sampling interval of 0.01s. The variance of the platform's pitch under active control, no control, and passive control was compared as follows: Figure 4 As shown, compared to passive control, active control reduces the variance of the pitch response by approximately 14.8%. By considering the proportion of each frequency component in the calculation of the lockout time under regular wave conditions, it better reflects the multi-frequency characteristics of actual waves, improving the motion phase matching degree and consequently increasing the energy absorbed by the TMD from the platform. Through dynamic prediction and lockout time optimization, this embodiment enables the TMD to maintain good synchronization characteristics in complex sea states, optimizing the platform's motion response.

[0079] It should be noted that the above description is not intended to limit the present invention, and the present invention is not limited to the examples given above. Any changes, modifications, additions or substitutions made by those skilled in the art within the scope of the present invention should also fall within the protection scope of the present invention.

Claims

1. A TMD (Transient Damping) lockout control method for motion suppression of semi-submersible platforms, characterized in that, include: Establish a time-domain model of a semi-submersible wind turbine platform and construct a TMD interlocking controller in the PTO system; Predicting wave components within a given future time period; Spectral analysis is performed on the predicted wave time series signal to calculate the energy distribution of each frequency component in the wave, and the equivalent amplitude of each frequency component is obtained based on the energy distribution. The equivalent amplitude of each frequency component is corrected by introducing a response amplitude operator and a pitch suppression ratio; The blocking control time is calculated using the correction results corresponding to each wave frequency as weighting coefficients. Computation-based time-of-use (TMD) interlocking control.

2. The TMD lockout control method for motion suppression of semi-submersible platforms according to claim 1, characterized in that, The constructed TMD interlocking controller is represented as follows: ； in, The damping coefficient of the interlocking controller; This is a control command, and its value is either 0 or 1, where 1 is for interlock control and 0 is for release; This represents the relative speed between the TMD and the platform.

3. The TMD lockout control method for motion suppression of a semi-submersible platform according to claim 1, characterized in that, The equivalent amplitude of each frequency component is corrected by introducing a response amplitude operator and a pitch suppression ratio, including: wave frequency Under the following conditions, when using the locking time hour, In random waves The influence weights of the parts are expressed as follows: ； Then for Its influence over the entire random wave is the sum of the weighted influences on all frequency components, expressed as: ； The above, wave frequency amplitude; For the platform at wave frequency The response amplitude operator; To control time For frequency The pitch suppression effect is expressed as: , The pitch angle of the platform under uncontrolled conditions. The pitch angle of the platform under locked control.

4. The TMD lockout control method for motion suppression of semi-submersible platforms according to claim 3, characterized in that, The blocking control time is calculated using the correction results corresponding to each wave frequency as weighting coefficients, including: The total weight is obtained by summing the weights of the lockout times corresponding to all wave frequencies: ； Normalize the total weight to obtain the values ​​at each time step. The corresponding weight percentage; Based on the weighting of each frequency component, a weighted average of their corresponding optimal lockout times is calculated to obtain the comprehensive optimal lockout time under the current wave combination state. : 。 5. The TMD lockout control method for motion suppression of a semi-submersible platform according to claim 4, characterized in that, Computation-based time-of-use (TMD) interlocking control includes: When the reciprocating speed of the TMD device passes the zero position, the interlocking controller activates the interlocking mechanism to lock the TMD in place and maintain the locked state continuously. Second; When the lockout duration reaches When the time comes, the controller issues an unlocking command to release the locking mechanism and restore the TMD's free movement.

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