A wideband active resonant built-in point absorption wave power generation device and its control method

Abstract

This invention discloses a wide-frequency-domain active resonant built-in point absorption wave power generation device and its control method, belonging to the field of wave power generation technology. The device includes an energy harvesting system, a PTO system, an active resonant control system, and an energy storage system. The energy harvesting system includes a cylindrical float. The active resonant control system includes a wireless data transceiver unit, a control unit, a pull-wire sensor, and a variable inertia mechanism. The wireless data transceiver unit is fixed to the top of the cylindrical float, the control unit is fixed to the upper part of the cylindrical float, and the pull-wire sensor is located between the upper and lower parts of the cylindrical float. This invention uses the above-mentioned device and method to track and match the changing wave frequency through active resonant control, achieving resonance. This maintains high energy conversion efficiency even in sea areas with wide-frequency wave variations, solving the problems of traditional point absorption devices that can only operate at a single resonant frequency and generating a large amount of reactive power by controlling the electromagnetic force of a motor to achieve resonance.

Description

Technical Field

[0001] This invention relates to the field of wave power generation technology, and in particular to a wide-frequency active resonance built-in point absorption wave power generation device and its control method. Background Technology

[0002] Wave energy, due to its high energy density and predictability, is considered one of the most promising renewable energy sources. Point absorption wave energy generation devices, in particular, are characterized by their compact structure, regular shape, ease of modular and array deployment, and high wave energy conversion efficiency through a resonance mechanism, demonstrating good economic prospects. Based on the number of floats and their relative position to the seawater, typical point absorption oscillating float devices can be classified into three types: single-unit, twin-unit, and internal.

[0003] Monolithic devices have a relatively simple structure and were widely used in early wave energy development. However, these devices require a fixed foundation structure and mooring system on the seabed as a motion reference frame, which brings additional construction costs.

[0004] Catamaran generators generate electricity using the relative motion between two floating bodies, one above water and one below, and can be deployed in deeper waters. However, the large size of the lower floating body results in high processing and construction costs.

[0005] Monohull and catamaran-type units require dynamic sealing structures, which are susceptible to wear and damage during long-term operation in harsh marine environments, resulting in lower overall survivability and reliability. Furthermore, the dynamic sealing structure generates static friction, leading to difficulties in starting up at low sea states.

[0006] Existing commonly used built-in devices incorporate a disc-shaped gravity pendulum within a sealed float, connected to the float via a hydraulic motor-driven power output system. This type of device encapsulates moving parts within a sealed float, significantly improving environmental adaptability and survivability. However, existing built-in point absorbers generally suffer from a single natural frequency, while the wave frequency in actual ocean areas varies continuously over time (periods can fluctuate on the order of seconds to hours). This causes a sharp drop in capture efficiency when the device operates outside its designed natural frequency. Even when resonance is achieved by controlling the electromagnetic force of the motor to simulate system stiffness changes, a large amount of reactive power is generated, resulting in low energy conversion efficiency.

[0007] Therefore, there is an urgent need to develop a built-in point absorption wave power generation device that can actively adjust its natural frequency, adapt to broadband wave environments, and has high conversion efficiency. Summary of the Invention

[0008] The purpose of this invention is to provide a wide-frequency domain active resonant built-in point absorption wave power generation device and control method to solve the problems mentioned in the background art.

[0009] To achieve the above objectives, the present invention provides a wideband active resonant built-in point absorption wave power generation device, including an energy harvesting system, a PTO system, an active resonant control system, and an energy storage system. The energy harvesting system includes a cylindrical float, and the active resonant control system includes a wireless data transceiver unit, a control unit, a pull-wire sensor, and a variable inertia mechanism. The wireless data transceiver unit is fixedly connected to the top of the cylindrical float, the control unit is fixedly connected to the upper part of the cylindrical float, and the pull-wire sensor is disposed between the upper and lower parts of the cylindrical float.

[0010] Preferably, the cylindrical float is cylindrical in shape with a convex hemispherical bottom, and a slide rail is fixedly installed in the middle of the cylindrical float.

[0011] Preferably, the PTO system includes an internal oscillator, an elastic element, a ball screw, and a rotary generator. The internal oscillator is positioned in the middle of the cylindrical float via slide rails. The internal oscillator includes a nut and a counterweight. The nut is slidably positioned between two slide rails, and the two counterweights are slidably positioned on opposite sides of the two slide rails. The counterweights are connected to the cylindrical float via the elastic element. The ball screw is positioned in the middle of the nut and threadedly connected to the nut. The bottom of the ball screw is connected to the rotary generator via a bearing and a coupling arranged sequentially. The rotary generator is fixedly connected to the lower part of the cylindrical float.

[0012] Preferably, the elastic element includes, but is not limited to, air springs, tension springs, and leaf springs. The stiffness of the air spring is adjusted by an air pump, which includes a first air pump and a second air pump, which are symmetrically arranged on both sides of the rotating generator.

[0013] Preferably, the variable inertia mechanism includes an electric push rod, a sleeve connector, a double-swing arm mechanism, and a mass ball. The electric push rod is fixedly connected to the upper part of the cylindrical float. The sleeve connector is connected to the output end of the electric push rod through a bearing. The output end of the electric push rod slides on a small track fixed to the cylindrical float. The double-swing arm mechanism is connected to the sleeve connector through a hinge. The mass ball is connected to the double-swing arm mechanism through a hinge. The double-swing arm mechanism is hinged to the top of the ball screw.

[0014] Preferably, the double-rotor mechanism includes a first connecting rod and a second connecting rod arranged symmetrically at the top and bottom. The two ends of the first connecting rod are respectively connected to a sleeve connector and a mass ball through hinges, and the two ends of the second connecting rod are respectively connected to a mass ball and a ball screw through hinges.

[0015] Preferably, the second bearing is located inside the sleeve connector, and a retaining ring is provided inside the sleeve connector to keep the second bearing stationary relative to the end of the electric push rod; The energy storage system includes a battery pack, which is fixed to the bottom of a cylindrical float.

[0016] Preferably, the natural frequency of the internal mechanical vibration system The relationship between the opening and closing radius of the double-rotary arm mechanism is: ; In the formula, the stiffness of the elastic element Equivalent stiffness of the internal vibration system Internal oscillator mass Ball screw lead The total moment of inertia of the ball screw, the rotor of the rotating generator, and other transmission components referred to the ball screw. Mass ball and the radius of inertia of the opening and closing rotation of the variable inertia mechanism Together they form the equivalent mass of the internal vibration system .

[0017] The present invention also provides a control method applied to the above-mentioned wideband active resonant built-in point absorption wave power generation device, comprising the following steps: The wave power generation device is deployed in the deep sea area by anchoring. The wave force drives the cylindrical float to swing, and the internal oscillator relies on inertia to perform a smooth reciprocating swinging motion on the slide rail. The restoring stiffness of the air spring is adjusted by an air pump to match the still water restoring stiffness of the wave power generation device. The active resonance control system tracks and matches the changing wave frequency, increasing the relative displacement between the internal oscillator and the cylindrical float.

[0018] Preferably, the active resonance control system tracks and matches the changing wave frequency. Specifically, the control unit receives the wave frequency information sent by the shore-based control station through the wireless data transceiver unit, sends a control signal to control the extension and retraction of the electric push rod to change the opening and closing radius of the two mass balls, thereby changing the natural frequency of the internal mechanical vibration system and realizing the tracking and matching of the changing wave frequency. The control signal controls the extension and retraction of the electric actuator to change the opening and closing radius of the two mass balls. Specifically, when the wave frequency decreases, the control unit sends a control signal to the electric actuator, which extends and drives the double-rotor mechanism to open the mass balls outward. The opening and closing radius of the two mass balls increases, the rotational inertia of the transmission system increases, the equivalent mass of the internal vibration system increases, and the natural frequency decreases, thus matching the wave frequency. When the wave frequency increases, the control unit sends a control signal to the electric actuator, which retracts, driving the double-rotor mechanism to force the mass balls to retract inward. The opening and closing radius of the two mass balls decreases, the rotational inertia of the transmission system decreases, the equivalent mass of the internal vibration system decreases, and the natural frequency increases, matching the wave frequency.

[0019] Therefore, the present invention employs the above-described wideband active resonance built-in point absorption wave power generation device and control method, which has the following beneficial effects: (1) The present invention contains an active resonance control system, which adds a variable inertia mechanism to the transmission system of the built-in point absorption wave power generation device. The variable inertia mechanism consists of an electric push rod, a double-rotary arm mechanism, a sleeve connector and two mass balls. The control unit receives the wave frequency information sent by the shore-based control station through the wireless data transceiver unit, and sends a control signal to control the extension and retraction of the electric push rod to change the opening and closing radius of the two mass balls, thereby achieving the purpose of variable inertia, thereby changing the natural frequency of the internal mechanical vibration system, and realizing tracking and matching the changing wave frequency, so as to maintain high energy conversion efficiency in the sea area where the wave period is constantly changing.

[0020] (2) Through active resonance adjustment technology and simple structural design, the present invention can achieve active resonance without building a large floating body or a complex external foundation structure and mooring system, which significantly reduces the characteristic size and construction cost of the device.

[0021] (3) The built-in structure encapsulates the key moving parts and control system inside the sealed floating body, eliminating the dynamic sealing mechanism and avoiding direct exposure of moving parts to harsh marine environments such as corrosion and impact, which greatly improves the overall reliability, durability and survivability of the device.

[0022] (4) The device of the present invention does not rely on the fixed foundation structure and mooring system on the seabed. It only needs to be anchored and positioned. Moreover, it can adapt to the sea area where the wave cycle is constantly changing through active resonance adjustment, thus expanding the application range of the wave energy power generation device. It is especially suitable for the development and utilization of deep-sea energy.

[0023] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the structure of a wideband active resonant built-in point absorption wave power generation device according to an embodiment of the present invention. Figure 2 This is a flowchart of the control method according to an embodiment of the present invention; Figure Labels 1. Control unit; 2. Electric push rod; 3. Sleeve connector; 4. Nut; 5. Counterweight; 6. Ball screw; 7. Slide rail; 8. Coupling; 9. First air pump; 10. Battery pack; 11. Second air pump; 12. Rotary generator; 13. Cylindrical float; 14. Bearing 1; 15. Air spring; 16. Mass ball; 17. Double-arm mechanism; 18. Wire sensor; 19. Wireless data transceiver unit. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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, not all, of the embodiments of the present invention. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0026] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0027] Example like Figure 1 As shown, the present invention provides a wide-frequency domain active resonant built-in point absorption wave power generation device, including an energy capture system, a PTO (Power Take Off) system, an active resonant control system, and an energy storage system. The PTO system is used to convert mechanical energy into electrical energy.

[0028] The energy capture system includes a cylindrical float 13, which is cylindrical in shape with a convex hemispherical bottom. It is positioned by anchoring. A slide rail 7 is fixedly installed in the middle of the cylindrical float 13.

[0029] The PTO system includes an internal oscillator, elastic elements, a ball screw 6, and a rotary generator 12. The internal oscillator is positioned in the middle of a cylindrical float 13 via slide rails 7. The internal oscillator includes a nut 4 and counterweights 5. The nut 4 is slidably positioned between two slide rails 7, and the two counterweights 5 are slidably positioned on opposite sides of the two slide rails 7. The counterweights 5 are connected to the cylindrical float 13 via elastic elements, providing restoring force. The ball screw 6 is positioned in the middle of the nut 4 and threadedly connected to it. The rotary generator 12 is fixedly connected to the lower part of the cylindrical float 13. Bearings 14 are located at both the top and bottom of the ball screw 6, and the bottom of the ball screw 6 is connected to the rotary generator 12 via bearings 14 and a coupling 8 arranged sequentially. The elastic elements include, but are not limited to, air springs 15, tension springs, and leaf springs, etc., which are different types of elements that provide restoring force and are connected to the internal oscillator at different spatial positions. The air spring 15 uses an air pump to adjust its stiffness, while other types of springs use other methods to adjust their stiffness. The stiffness of the air spring 15 is adjusted by an air pump to match the still water recovery stiffness of the wave power generation device. The air pump includes a first air pump 9 and a second air pump 11, which are symmetrically arranged on both sides of the rotating generator 12.

[0030] The internal oscillator reciprocates smoothly on the slide rail 7, driving the ball screw 6 to rotate. The ball screw 6 is connected to the rotary generator 12 via the bearing 14 and the coupling 8, converting the reciprocating linear motion of the internal oscillator into the rotational motion of the rotary generator 12.

[0031] The active resonance control system includes a wireless data transceiver unit 19, a control unit 1, a pull-wire sensor 18, and a variable inertia mechanism. The wireless data transceiver unit 19 is fixed to the top of the cylindrical float 13, the control unit 1 is fixed to the upper part of the cylindrical float 13, and the pull-wire sensor 18 is located between the upper and lower parts of the cylindrical float 13 to detect the motion state of the internal oscillator.

[0032] The variable inertia mechanism includes an electric push rod 2, a sleeve connector 3, a double-swing arm mechanism 17, and a mass ball 16. The electric push rod 2 is fixedly connected to the upper part of the cylindrical float 13. The sleeve connector 3 is connected to the output end of the electric push rod 2 via a bearing 2. The output end of the electric push rod 2 slides on a small track fixed to the cylindrical float 13. The double-swing arm mechanism 17 is connected to the sleeve connector 3 via a hinge, and the mass ball 16 is connected to the double-swing arm mechanism 17 via a hinge. The sleeve connector 3 contains a bearing 2, allowing the double-swing arm mechanism 17 to rotate while the electric push rod 2 cannot rotate. The sleeve connector 3 contains a retaining ring, keeping the bearing 2 and the end of the electric push rod 2 relatively stationary. The retaining ring can be locked in the annular groove of the bearing 2, directly abutting against the inner or outer ring end face of the bearing 2, restricting the axial movement of the bearing 2 and ensuring that the bearing 2 is always in the designed position during operation. The double-swing arm mechanism 17 is hinged to the top of the ball screw 6. The double-rotor mechanism 17 includes a first connecting rod and a second connecting rod arranged symmetrically at the top and bottom. The two ends of the first connecting rod are respectively connected to the sleeve connecting piece 3 and the mass ball 16 by hinges, and the two ends of the second connecting rod are respectively connected to the mass ball 16 and the ball screw 6 by hinges.

[0033] Bearing 14 is provided with a bearing housing, which is fixed on the cylindrical float 13.

[0034] The design of the variable inertia mechanism is based on the dynamic equations of the built-in point absorption wave generator, specifically: The heave displacement of the cylindrical float 13 relative to its hydrostatic equilibrium state is expressed as: The heave displacement of the internal oscillator relative to its hydrostatic equilibrium state is expressed as: The relative heave displacement of the cylindrical float 13 and the internal oscillator is expressed as: The angle through which the ball screw 6 rotates is expressed as: The lead of a ball screw is represented as 6. .

[0035] relative displacement Angle with ball screw 6 The relationship between them: ; Let the force generated by the ball screw 6 pairs of internal oscillators be... According to Newton's equations, the kinematic equations of the internal oscillator are: ; in, Indicates the stiffness of an elastic element; Indicates mechanical damping; This indicates the relative heave velocity between the cylindrical float 13 and the internal oscillator. This represents the acceleration of the heave motion of the internal oscillator; This indicates the mass of the internal oscillator.

[0036] Force analysis of the ball screw transmission system: The torque balance equation for the ball screw is as follows: ; in, This represents the total moment of inertia of the ball screw 6, the rotor of the rotary generator 12, and other transmission components referred to the ball screw 6. Indicates the electromagnetic damping of the rotating generator 12; This indicates the rotational acceleration of ball screw 6; This indicates the rotational speed of ball screw 6.

[0037] Substitution ,get: ; in, This represents the relative heave acceleration between the cylindrical float 13 and the internal oscillator.

[0038] Solving for: ; Substitution ,get: ; Summarized as follows: ; in, This represents the acceleration of the heave motion of the cylindrical float 13.

[0039] Comparing with the standard form of the vibration equation, we get: Equivalent quality: ; Equivalent damping: ; Equivalent stiffness: ; The vibration equation of the internal mechanical system is: ; Calculate the natural frequencies of the internal mechanical vibration system : ; The natural frequency of the internal mechanical vibration system can be changed by altering the rotational inertia of the transmission system. A variable inertia mechanism is added to the transmission system of the built-in point-absorbing wave generator. This mechanism consists of an electric push rod 2, a double-swing arm mechanism 17, a sleeve connector 4, and two mass balls 16. By controlling the extension and retraction of the electric push rod 2, the opening and closing radii of the two mass balls 16 are controlled, thus achieving the purpose of variable inertia and obtaining the control equation for the natural frequency. ; ; in, The variable moment of inertia generated by the variable moment of inertia mechanism The mass of mass ball 16, The radius of the opening and closing of the mass ball driven by the double-rotor mechanism 17.

[0040] The relationship between the natural frequency of the internal mechanical vibration system and the 17-panel radius of the double-swing arm mechanism is obtained by refining the formula: ; The energy storage system includes a battery pack 10, which is fixedly connected to the bottom of a cylindrical float 13. The electrical energy generated by the rotary generator 12 is rectified and regulated by the power conversion system inside the control unit 1 and then stored in the battery pack 10. The power conversion system includes a three-phase PWM rectifier and a Buck-Boost circuit for rectification and regulation, realizing the electromagnetic damping control of the rotary generator.

[0041] Working principle: The device is deployed in the deep sea area by anchoring. Wave force drives the cylindrical float 13 to oscillate. The internal oscillator relies on inertia to perform a smooth reciprocating oscillation on the slide rail 7. In this embodiment, an air spring 15 is used as an elastic element. The first air pump 9 and the second air pump 11 adjust the restoring stiffness of the air spring 15 to match the still water restoring stiffness of the wave power generation device. Using resonance technology, the active resonance control system tracks and matches the changing wave frequency, increasing the relative displacement between the internal oscillator and the cylindrical float 13. This maintains high energy conversion efficiency even in sea areas with constantly changing wave cycles. The ball screw 6 converts the reciprocating linear motion of the internal oscillator into the rotational motion of the rotary generator 12. The electrical energy generated by the rotary generator 12 is rectified and regulated by the power conversion system inside the control unit 1 and stored in the battery pack 10, realizing the energy conversion process of converting wave energy into mechanical energy and then into electrical energy. When the wave frequency changes, the active resonance control system can selectively adjust the rotational inertia of the transmission system to achieve wide-frequency active resonance control and improve wave energy capture efficiency.

[0042] The active resonance control system receives wave frequency information from shore-based control stations and other devices that can monitor wave frequencies via wireless data transceiver unit 19. Control unit 1 controls the extension and retraction length of electric push rod 2 based on the received wave frequency information. At this time, the rotational motion of double-spinning arm mechanism 17 is isolated from electric push rod 2 through sleeve connector 3. Simultaneously, there is no relative motion between electric push rod 2 and sleeve connector 3. The opening and closing radius of double-spinning arm mechanism 17 with mass ball 16 is adjusted, thereby controlling the rotational inertia of the transmission system and realizing the adjustment of the natural frequency of wave power generation device.

[0043] like Figure 2 As shown, the present invention also provides a control method applied to the above-mentioned wideband active resonant built-in point absorption wave power generation device, comprising the following steps: The wave power generation device is deployed in the deep sea area by anchoring. The wave force drives the cylindrical float 13 to swing, and the internal oscillator relies on inertial force to perform reciprocating and stable swinging motion on the slide rail 7. The restoring stiffness of the air spring 15 is adjusted by an air pump to match the still water restoring stiffness of the wave power generation device. By utilizing the principle of resonance and through an active resonance control system, the system tracks and matches the changing wave frequency, increases the relative displacement between the internal oscillator and the cylindrical float 13, and thus maintains high energy conversion efficiency in sea areas where the wave cycle is constantly changing.

[0044] The specific control process of the active resonance control system is as follows: the control unit 1 receives the wave frequency information sent by the shore-based control station through the wireless data transceiver unit 19, and sends a control signal to control the extension and retraction of the electric push rod 2 to change the opening and closing radius of the two mass balls 16, thereby achieving the purpose of changing the moment of inertia, and thus changing the natural frequency of the internal mechanical vibration system, so as to track and match the changing wave frequency.

[0045] When the wave frequency decreases, the control unit 1 sends a control signal to the electric push rod 2, which extends and drives the double-spinning arm mechanism 17 to force the mass spheres 16 to open outward. The opening and closing radius of the two mass spheres 16 increases, the rotational inertia of the transmission system increases, the equivalent mass of the internal vibration system increases, and the natural frequency decreases, thereby matching the wave frequency and achieving resonance. When the wave frequency increases, the control unit 1 sends a control signal to the electric push rod 2, which retracts and drives the double-spinning arm mechanism 17 to force the mass spheres 16 to close inward. The opening and closing radius of the two mass spheres 16 decreases, the rotational inertia of the transmission system decreases, the equivalent mass of the internal vibration system decreases, and the natural frequency increases, in order to achieve the purpose of matching the wave frequency and capturing wave energy to the maximum extent.

[0046] Therefore, the present invention employs the above-mentioned wideband active resonance built-in point absorption wave power generation device and control method, which can actively adjust the natural frequency, adapt to the wideband wave environment, and improve energy conversion efficiency.

[0047] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solutions of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A wide frequency range active resonant built-in point absorption wave power generation device, characterized by: The wave power generation device comprises a captive energy system, a PTO system, an active resonance control system and an energy storage system.

2. A broadband active resonant internal point absorber wave power generation device according to claim 1, characterized in that: The cylindrical float is in a whole cylindrical shape, and the bottom is in a convex semispherical shape.

3. A broadband active resonant internal point absorber wave power generation device according to claim 2, characterized in that: The PTO system comprises an internal oscillator, an elastic element, a ball screw and a rotary generator.

4. A broadband active resonant internal point absorber wave power generation device according to claim 3, characterized in that: The internal oscillator is arranged in the middle of the cylindrical float through the slide rails.

5. A broadband active resonant internal point absorber wave power generation device according to claim 3, characterized in that: The elastic element comprises, but is not limited to, an air spring, a tension spring and a leaf spring.

6. A broadband active resonant internal point absorber wave power generation device according to claim 5, wherein: The stiffness of the air spring is adjusted by an air pump.

7. A broadband active resonant internal point absorber wave power generation device according to claim 5, characterized in that: The air pump comprises a first air pump and a second air pump, which are symmetrically arranged on the two sides of the rotary generator. The variable inertia mechanism comprises an electric push rod, a sleeve connector, a double rotary arm mechanism and a mass ball.

8. A broadband active resonant internal point absorber wave power generation device according to claim 5, characterized in that: Internal mechanical vibration system natural frequency The relationship with the double-arm mechanism opening and closing radius is: ； where the elastic element stiffness is the equivalent stiffness of the internal vibration system , the internal mass , the ball screw lead , the total moment of inertia of the ball screw and motor rotor and other transmission components reduced to the ball screw , the mass sphere and the variable inertia mechanism opening and closing moment of inertia radius together constitute the equivalent mass of the internal vibration system .

9. A control method applied to the broadband active resonant internal point absorbing wave power device according to any one of claims 1-8, characterized in that, The double rotary arm mechanism comprises a connecting rod one and a connecting rod two arranged symmetrically up and down. The connecting rod one is connected to the sleeve connector and the mass ball through hinged connection at two ends respectively. The connecting rod two is connected to the mass ball and the ball screw through hinged connection at two ends respectively. The sleeve connector is connected to the electric push rod through bearing two at the output end.

10. The control method of claim 9, wherein: The output end of the electric push rod slides on a small track fixed to the cylindrical float. The double rotary arm mechanism is hinged to the top of the ball screw. The sleeve connector is internally provided with a retainer ring to make the bearing two and the end of the electric push rod relatively stationary. The energy storage system comprises a battery pack, which is fixed to the bottom of the cylindrical float. The wave power generation device is arranged in the deep sea area by anchoring, and the wave force drives the cylindrical float to do heaving motion. The restoring stiffness of the air spring is adjusted by the air pump to match the static water restoring stiffness of the wave power generation device. The active resonance control system tracks and matches the changing sea wave frequency. The control unit receives the sea wave frequency information sent by the shore-based control station through the wireless data transceiver, and sends a control signal to control the extension amount of the electric push rod to change the opening radius of the two mass balls, change the natural frequency of the internal mechanical vibration system, and realize tracking and matching the changing sea wave frequency. The control signal controls the extension amount of the electric push rod to change the opening radius of the two mass balls. When the wave frequency decreases, the control unit sends a control signal to the electric push rod, which extends and drives the double-rotor mechanism to open the mass balls outward. The opening and closing radius of the two mass balls increases, the rotational inertia of the transmission system increases, the equivalent mass of the internal vibration system increases, and the natural frequency decreases, thus matching the wave frequency. When the wave frequency increases, the control unit sends a control signal to the electric actuator, which retracts, driving the double-rotor mechanism to force the mass balls to retract inward. The opening and closing radius of the two mass balls decreases, the rotational inertia of the transmission system decreases, the equivalent mass of the internal vibration system decreases, and the natural frequency increases, matching the wave frequency.

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