An adaptive tensioning system and method for a tension leg floating wind turbine mooring

Abstract

This invention relates to the field of offshore wind power generation technology, and particularly to an adaptive adjustment system and method for a tension leg floating wind turbine mooring cable. The system includes: a wind turbine tower, a floating foundation, a retractable mooring cable, an anchoring foundation, environmental monitoring equipment, a tension sensor, a length adjustment component, and a central controller. The floating foundation is connected to the wind turbine tower, and the retractable mooring cable is connected to both the floating foundation and the anchoring foundation. The environmental monitoring equipment is used to monitor marine environmental parameters in real time. The tension sensor is used to monitor the tension signal of the mooring cable in real time. The length adjustment component is used to adjust the length of the retractable mooring cable. The central controller is used to determine the length adjustment level based on marine environmental parameters, tension signals, and a preset graded adjustment strategy, and to control the length adjustment component to adjust the length of the retractable mooring cable. This technical solution can avoid fatigue damage to the mooring cable and connecting structures due to long-term uneven stress, improving the reliability and service life of the mooring system.

Description

Technical Field

[0001] This invention relates to the field of offshore wind power generation technology, and in particular to an adaptive adjustment system and method for the mooring cable of a tension leg floating wind turbine. Background Technology

[0002] In the offshore wind power sector, the floating wind turbine mooring system is a core component ensuring the stable operation of the turbine. However, due to the complex and variable marine environment, extreme sea conditions can easily lead to a sharp overload of the mooring cable tension, while during periods of lower load, the cable can easily slack off. This not only severely affects the positioning accuracy and operational attitude of the floating foundation but also significantly exacerbates fatigue damage to the mooring cable and connecting structures, reducing the overall reliability and service life of the mooring system and posing a significant threat to the long-term safe and stable operation of the floating wind turbine.

[0003] Therefore, those skilled in the art urgently need to develop a new technical solution to address the above problems. Summary of the Invention

[0004] This invention provides an adaptive adjustment system and method for tension leg floating wind turbine mooring cables, which can avoid fatigue damage to the mooring cables and connecting structures caused by long-term uneven stress, thereby improving the reliability and service life of the mooring system.

[0005] In a first aspect, embodiments of the present invention provide an adaptive adjustment system for a tension leg floating wind turbine mooring cable, comprising: a wind turbine tower, a floating foundation, a retractable mooring cable, an anchoring foundation, environmental monitoring equipment, a tension sensor, a length adjustment component, and a central controller; The floating foundation is connected to the wind turbine tower and is used to support the wind turbine tower and provide buoyancy. One end of the retractable mooring cable is connected to the floating foundation, and the other end is connected to the anchoring foundation; The environmental monitoring equipment is installed on the floating base and is used to monitor marine environmental parameters in real time and transmit the marine environmental parameters to the central controller; The tension sensor is installed on the retractable mooring cable to monitor the tension signal of the retractable mooring cable in real time and transmit the tension signal to the central controller. The length adjustment component is located at the bottom of the floating foundation and is used to adjust the length of the retractable mooring cable; The central controller is electrically connected to the environmental monitoring equipment, the tension sensor, and the length adjustment component, respectively, and is used to determine the length adjustment level according to the marine environmental parameters, tension signal, and preset graded adjustment strategy, and control the length adjustment component to adjust the length of the retractable mooring cable according to the length adjustment level.

[0006] Secondly, embodiments of the present invention provide an adaptive adjustment method for the mooring cable of a tension leg floating wind turbine, applied to the system described in the first aspect, the method comprising: Marine environmental parameters are monitored in real time using environmental monitoring equipment, and the marine environmental parameters are transmitted to the central controller. The tension sensor is used to monitor the tension signal of the retractable mooring cable in real time, and the tension signal is transmitted to the central controller. The central controller determines the length adjustment level based on the marine environmental parameters, tension signals, and a preset graded adjustment strategy. The length of the retractable mooring cable is adjusted using the length adjustment component according to the length adjustment level. The preset graded adjustment strategy includes: when the marine environmental parameters are within a preset normal operating condition parameter range and the tension signal is less than or equal to a first preset threshold, the length adjustment level is determined to be normal adjustment; when the marine environmental parameters are within a preset severe operating condition parameter range and the tension signal is greater than the first preset threshold and less than or equal to a second preset threshold, the length adjustment level is determined to be level one adjustment; when the marine environmental parameters are within a preset severe operating condition parameter range and the tension signal is greater than the second preset threshold and less than or equal to a third preset threshold, the length adjustment level is determined to be level two adjustment; when the marine environmental parameters are within a preset extreme operating condition parameter range and the tension signal is greater than a third preset threshold, the length adjustment level is determined to be level three adjustment.

[0007] The adaptive adjustment system and method for a tension-legged floating wind turbine mooring cable provided by this invention can determine the length adjustment level based on marine environmental parameters, tension signals, and a preset graded adjustment strategy. The length of the retractable mooring cable is then adjusted based on this adjustment level, solving the problems of tension overload and slack in the mooring cable. This avoids fatigue damage to the mooring cable and connecting structure due to long-term uneven stress, improving the reliability and service life of the mooring system. The flexible adjustment of the mooring cable length according to real-time sea conditions and tension changes adapts to different sea conditions while ensuring the positioning accuracy of the floating foundation, thus guaranteeing stable power generation by the wind turbine. Attached Figure Description

[0008] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0009] Figure 1This is a schematic diagram illustrating the structure of an adaptive adjustment system for a tension leg floating wind turbine mooring cable according to an exemplary embodiment; Figure 2 It is based on Figure 1 A front view of an adaptive adjustment system for a tension leg floating wind turbine mooring cable is shown. Figure 3 It is based on Figure 1 The image shows a right view of an adaptive adjustment system for a tension leg floating wind turbine mooring cable. Figure 4 It is based on Figure 1 A top view showing an adaptive adjustment system for a tension leg floating wind turbine mooring cable; Figure 5 It is based on Figure 1 An enlarged view of the environmental monitoring equipment portion of an adaptive adjustment system for a tension leg floating wind turbine mooring cable is shown. Figure 6 It is based on Figure 1 An enlarged view of the central controller section of an adaptive adjustment system for a tension leg floating wind turbine mooring cable is shown. Figure 7 It is based on Figure 1 An enlarged view of the length adjustment component of an adaptive adjustment system for a tension leg floating wind turbine mooring cable is shown.

[0010] Figure label: 1-Wind turbine tower; 2-Floating foundation; 3-Retractable mooring cable; 31-Tension leg mooring cable; 4-Anchoring foundation; 51-Ring device; 52-Anemometer; 6-Tension sensor; 7-Length adjustment component; 71-Main slide rail; 72 - Principal stiffness spring; 73-Main slider; 74-Main lock stop; 75-Secondary slide rail; 76 - A pair of stiffness springs; 77-Secondary slider; 78-Secondary lock stop; 79 - Servo motor; 710 - Chain-connecting spindle; 8-Central Controller. Detailed Implementation

[0011] The solution provided by the present invention will now be described with reference to the accompanying drawings.

[0012] See Figures 1-7 The present invention provides an adaptive adjustment system for a tension leg floating wind turbine mooring cable, comprising: a wind turbine tower 1, a floating foundation 2, a retractable mooring cable 3, an anchoring foundation 4, environmental monitoring equipment, a tension sensor 6, a length adjustment component 7, and a central controller 8. The floating foundation 2 is connected to the wind turbine tower 1 to support the wind turbine tower 1 and provide buoyancy; One end of the retractable mooring cable 3 is connected to the floating foundation 2, and the other end is connected to the anchor foundation 4; The environmental monitoring equipment is installed on the floating foundation 2 to monitor marine environmental parameters in real time and transmit the marine environmental parameters to the central controller 8; Tension sensor 6 is installed on retractable mooring cable 3 to monitor the tension signal of retractable mooring cable 3 in real time and transmit the tension signal to central controller 8; The length adjustment component 7 is located at the bottom of the floating foundation 2 and is used to adjust the length of the retractable mooring cable 3; The central controller 8 is electrically connected to the environmental monitoring equipment, the tension sensor 6, and the length adjustment component 7, respectively. It is used to determine the length adjustment level based on marine environmental parameters, tension signals, and preset graded adjustment strategies, and to control the length adjustment component 7 to adjust the length of the retractable mooring cable 3 according to the length adjustment level.

[0013] In this embodiment, the adaptive adjustment system of the tension leg floating wind turbine mooring cable includes a wind turbine tower 1, a floating foundation 2, a retractable mooring cable 3, an anchoring foundation 4, environmental monitoring equipment, a tension sensor 6, a length adjustment component 7, and a central controller 8. The wind turbine tower 1 is positioned above the floating foundation 2, which provides buoyancy to the tower. The retractable mooring cable 3 connects the floating foundation 2 to the anchoring foundation 4. The wind turbine tower 1 can be transported separately to the working sea area and assembled with the floating foundation 2, or it can be assembled on land with the central controller 8, the floating foundation 2, and the length adjustment component 7 before being towed as a whole. After being connected to the mooring system (tension leg mooring cable 31, retractable mooring cable 3, and anchoring foundation 4) in the working sea area, it is then connected to the assembled environmental monitoring equipment. The environmental monitoring equipment, mounted on the floating foundation 2, monitors marine environmental parameters in real time. The tension sensor 6, mounted on the retractable mooring cable 3, monitors the tension signal of the cable in real time. The central controller 8 receives marine environmental parameters and tension signals. The central controller 8 has a built-in intelligent algorithm (preset graded adjustment strategy) that can control the length adjustment component 7 to adjust the length of the retractable mooring cable 3 according to the marine environmental parameters and tension signals.

[0014] Specifically, the tiered adjustment strategy includes: when the marine environmental parameters are within the preset normal operating condition parameter range, and the tension signal is less than or equal to the first preset threshold, the length adjustment level is determined to be normal adjustment; when the marine environmental parameters are within the preset severe operating condition parameter range, and the tension signal is greater than the first preset threshold and less than or equal to the second preset threshold, the length adjustment level is determined to be level one adjustment; when the marine environmental parameters are within the preset severe operating condition parameter range, and the tension signal is greater than the second preset threshold and less than or equal to the third preset threshold, the length adjustment level is determined to be level two adjustment; when the marine environmental parameters are within the preset extreme operating condition parameter range, and the tension signal is greater than the third preset threshold, the length adjustment level is determined to be level three adjustment. It is evident that the third preset threshold is greater than the second preset threshold, and the second preset threshold is greater than the first preset threshold. When the length adjustment level is normal adjustment, the marine environment is under normal operating conditions, and the length of the retractable mooring cable 3 cannot be adjusted. When the length adjustment level is level one adjustment, the marine environment is in a less severe operating condition; at this time, the tension of the mooring cable increases under the influence of wind and waves, requiring adjustment of the length of the retractable mooring cable 3. When the length adjustment level is Level 2, the marine environment is in a severe condition. Under these conditions, the tension of the mooring cable continues to increase due to wind and waves, thus increasing the length adjustment range of the retractable mooring cable 3. When the length adjustment level is Level 3, the marine environment is in an extreme condition, and the tension of the retractable mooring cable 3 is under very high tension, requiring rapid adjustment over a wide range.

[0015] In addition, there are multiple retractable mooring cables 3, symmetrically arranged below the floating foundation 2. Tension leg mooring cables 31 are arranged symmetrically with the retractable mooring cables 3, and their number is twice that of the retractable mooring cables 3 (one retractable mooring cable 3 on each side, and two tension leg mooring cables 31 on each side). One end of each cable is connected to the floating foundation 2, and the other end is connected to the anchoring foundation 4. Multiple retractable mooring cables 3 are arranged symmetrically and evenly below the floating foundation 2, with the central axis of the floating foundation 2 as the reference. One end of each retractable mooring cable 3 is connected to a different position on the bottom of the floating foundation 2, and the other end is connected to the anchoring foundation 4. This symmetrical arrangement makes the mooring tension distribution more even, effectively improving the positioning accuracy and attitude stability of the floating foundation 2 in complex marine environments. Multiple tension leg mooring cables 31 are also installed, which, along with the retractable mooring cable 3, are symmetrically and alternately arranged around the floating foundation 2 to form a hybrid mooring structure. This structure ensures the platform's positioning rigidity while also accommodating the adaptive adjustment capability of mooring tension under different working conditions, further improving the reliability and stability of the entire mooring system. Integrating the tension leg mooring cables 31 and the retractable mooring cable 3 into the same system fully combines the high rigidity of the tension leg mooring cables 31 with the strong adaptability of the retractable mooring cable 3.

[0016] As can be seen, the technical solution in this embodiment of the invention can adaptively maintain the horizontal attitude and positioning accuracy of the floating foundation 2 according to the real-time marine environment and tension status, optimize the mooring tension distribution, avoid excessive tension or slack in the mooring cables, improve the adaptability and structural safety of the wind turbine in complex sea conditions, and ensure efficient and stable power generation. This provides a key system safety solution for the development of floating wind power towards deep-sea and high-power applications. The central controller 8 can perform remote data transmission and intelligent operation and maintenance. The monitored environmental data can be transmitted to land for analysis, supporting staff in determining when maintenance is needed, thus realizing a data closed loop from condition monitoring to maintenance decision-making.

[0017] In one embodiment of the present invention, the length adjustment component 7 includes a primary adjustment device, a secondary adjustment device, and a tertiary adjustment device; The secondary regulating device is located at the bottom of the floating foundation 2 and is slidably connected to the primary regulating device. The primary regulating device is located at the bottom of the secondary regulating device and is slidably connected to the tertiary regulating device. The tertiary regulating device is connected to the retractable mooring cable 3. The primary adjustment device is used to adjust the length of the retractable mooring cable 3 in the locked state of the secondary and tertiary adjustment devices. The secondary adjustment device is used to perform secondary adjustment of the length of the retractable mooring cable 3 while the primary and tertiary adjustment devices are locked. The three-stage adjustment device is used to adjust the length of the retractable mooring cable 3 in three stages while the first-stage and second-stage adjustment devices are locked.

[0018] In this embodiment, the length adjustment component 7 is located at the bottom of the pontoon of the floating foundation 2 and connected to the retractable mooring cable 3. One length adjustment component 7 is arranged at the bottom of each pontoon. Multiple central controllers 8 can be present, each electrically connected to one of the length adjustment components 7. Each central controller 8 can independently control the retractable mooring cable 3 connected to it, allowing for flexible adjustment of the length of the corresponding mooring cable according to the direction of environmental load. That is, several retractable mooring cables 3 can be switched depending on environmental conditions; all three can be switched simultaneously, or only one can be switched. Furthermore, when the marine environmental monitoring equipment detects severe marine conditions, such as typhoons or large waves, the monitoring system will automatically issue an alarm and transmit the information to the central controller 8, enabling the mooring cable length adjustment component 7 to make an advance judgment.

[0019] The length adjustment assembly 7 is a three-stage linkage structure, specifically including a primary adjustment device, a secondary adjustment device, and a tertiary adjustment device. The secondary adjustment device is installed at the bottom of the floating foundation 2 and forms a sliding engagement with the primary adjustment device; the primary adjustment device is located below the secondary adjustment device and is slidably connected to the tertiary adjustment device; the tertiary adjustment device is directly connected to the retractable mooring cable 3 and is used to perform length adjustment actions. According to the preset graded adjustment strategy, the primary adjustment device completes a small-amplitude length adjustment when the secondary and tertiary adjustment devices are locked; the secondary adjustment device completes a medium-amplitude length adjustment when the primary and tertiary adjustment devices are locked; and the tertiary adjustment device completes a large-amplitude and rapid length adjustment when the primary and secondary adjustment devices are locked, thereby achieving graded and adaptive length control of the retractable mooring cable 3.

[0020] In one embodiment of the present invention, the secondary adjustment device includes a main slide rail 71, a main stiffness spring 72, a main slider 73, and a main locking buckle 74; The main slide rail 71 is located at the bottom of the floating foundation 2, and the main slider 73 is located at the end of the main slide rail 71 away from the floating foundation 2 and is slidably connected to the main slide rail 71. One end of the main stiffness spring 72 is connected to the main slide rail 71, and the other end is connected to the main slider 73; The main locking latch 74 is mounted on the main slide rail 71 and is used to control the locking and releasing of the main slider 73.

[0021] In this embodiment, the secondary adjustment device includes a main slide rail 71, a main stiffness spring 72, a main slider 73, and a main locking buckle 74. The main slide rail 71 is fixed to the bottom of the floating foundation 2, and the main slider 73 is located at the end of the main slide rail 71 away from the floating foundation 2 and is slidably connected to the main slide rail 71. One end of the main stiffness spring 72 is connected to the main slide rail 71, and the other end is connected to the main slider 73, providing elastic buffering and reset functions. The main locking buckle 74 is installed on the main slide rail 71 and is used to control the locking and releasing of the main slider 73. When the system is in the secondary adjustment level, the main locking buckle 74 is unlocked, and the main slider 73 can slide along the main slide rail 71, completing a moderate range of mooring cable length adjustment with the cooperation of the main stiffness spring 72.

[0022] In one embodiment of the present invention, the primary adjustment device includes a secondary slide rail 75, a secondary stiffness spring 76, a secondary slider 77, and a secondary locking buckle 78. The secondary slide rail 75 is disposed on the main slide rail 73, and the secondary slide rail 77 is disposed at the end of the secondary slide rail 75 away from the main slide rail 73 and is slidably connected to the secondary slide rail 75. One end of the secondary stiffness spring 76 is connected to the secondary slide rail 75, and the other end is connected to the secondary slider 77; The secondary locking latch 78 is mounted on the secondary slide rail 75 and is used to control the locking and releasing of the secondary slider 77.

[0023] In this embodiment, the primary adjustment device includes a secondary slide rail 75, a secondary stiffness spring 76, a secondary slider 77, and a secondary locking buckle 78. The secondary slide rail 75 is fixed to the main slider 73, and the secondary slider 77 is located at the end of the secondary slide rail 75 away from the main slider 73 and is slidably connected to the secondary slide rail 75. One end of the secondary stiffness spring 76 is connected to the secondary slide rail 75, and the other end is connected to the secondary slider 77, which is used to achieve small-amplitude flexible buffering. The secondary locking buckle 78 is installed on the secondary slide rail 75 and is used to control the locking and releasing of the secondary slider 77. When the system is in the primary adjustment level, the secondary locking buckle 78 is unlocked, and the secondary slider 77 slides along the secondary slide rail 75, achieving small-amplitude adaptive adjustment of the mooring cable length with the cooperation of the secondary stiffness spring 76.

[0024] In one embodiment of the present invention, the three-stage adjustment device includes a servo motor 79 and a chain-storage shaft 710; The chain storage shaft 710 is mounted on the auxiliary slider 77 and connected to the servo motor 79. The retractable mooring cable 3 is wound around the chain storage shaft 710. The chain storage shaft 710 rotates under the drive of the servo motor 79 to adjust the length of the retractable mooring cable 3.

[0025] In this embodiment, the three-level adjustment device includes a servo motor 79 and a chain storage shaft 710. The chain storage shaft 710 is mounted on the auxiliary slider 77 and driven by the servo motor 79. The retractable mooring cable 3 is wound around the chain storage shaft 710. Driven by the servo motor 79, the chain storage shaft 710 rotates forward or backward, realizing the winding and length adjustment of the retractable mooring cable 3. When the system is in the three-level adjustment stage, the servo motor 79 is activated, and the chain storage shaft 710 quickly winds up and winds the cable, achieving a large-amplitude, high-response adjustment of the mooring cable length.

[0026] The tension signal T of the retractable mooring cable 3 can be divided into three levels: T1 is the normal state, T2 is the warning state, and T3 is the danger state. Environmental conditions can be categorized as normal, harsh, and extreme. When the environmental conditions are normal, the mooring cable tension T≤T1 triggers normal adjustment, and the retractable mooring cable 3 is in a taut state. When the environmental conditions are harsh, the mooring cable tension signal T1<T≤T2 triggers first-level adjustment. At this time, the locking buckle of the secondary slide rail 75 is released, allowing the retractable mooring cable 3 to pull the secondary slider 77 to adapt to the environmental conditions and extend along the secondary slide rail 75. When the ultimate tensile length of the secondary stiffness secondary spring is reached, the mooring cable tension signal T2<T≤T3 triggers second-level adjustment, automatically releasing the main locking buckle 74 of the main slide rail 71, allowing the secondary slide rail 75 to move along the main slide rail 71 and adjust the length of the retractable mooring cable 3. During normal, first-level, and second-level adjustments, the servo motor 79 remains in standby mode, employing a passive adjustment spring device. This mode consumes extremely low energy and relies on the mechanical structure to automatically buffer minor fluctuations, achieving economical and efficient fine-tuning of the mooring cable length. When environmental conditions return to normal, and the mooring cable tension T ≤ T1, the retractable mooring cable 3 can be restored to tension through the spring's own restoring force, with both the main locking buckle 74 and the auxiliary locking buckle 78 in the locked state.

[0027] When environmental conditions are extreme, the mooring cable tension signal T > T3, triggering a three-stage adjustment. At this time, the auxiliary slide rail 75 and main slide rail 71 are not used; the servo motor 79 is directly activated to quickly release the mooring cable. This mode offers rapid response and is used to handle emergencies and achieve coarse adjustment. As environmental conditions gradually return to normal, the mooring cable is gradually retracted, restoring the retractable mooring cable 3 to its tensioned state. During the three-stage adjustment process, in addition to extending and tightening the mooring cable, the tension signal collected by the mooring cable tension sensor 6 can be referenced to monitor the tension signal of the retractable mooring cable 3 in real time. When the tension signal reaches the tensioned state, the servo motor 79 stops tightening the mooring cable; when the mooring cable tension reaches a state capable of resisting environmental loads, the servo motor 79 stops extending the mooring cable.

[0028] Based on hierarchical intelligent response, the system determines when to activate the passive adjustment mode (spring device) and when to activate the servo motor. This electromechanical hybrid drive optimizes the system's energy efficiency and actuator lifespan, avoiding ineffective wear and power consumption of the servo system under frequent small disturbances. When the environmental load and mooring tension are safe and stable, the mooring line is in a self-locking state, secured to the platform by the obliquely tensioned mooring cable, thus achieving extremely high rigidity and stability. The introduction of a rotary chain storage shaft saves storage space and reduces torsion and wear, improving durability and enabling controllable deployment and storage of the mooring cable. Tension sensors control tension changes during switching processes, actively avoiding or reducing resonance between the wind turbine and marine environmental loads, improving overall system stability and power generation efficiency.

[0029] In one embodiment of the present invention, there are multiple main locking latches 74 and secondary locking latches 78; Multiple main locking latches 74 are evenly distributed on the main slide rail 71, and are used to control the locking and releasing of the main slider 73 at different positions respectively; Multiple secondary locking latches 78 are evenly distributed on the secondary slide rail 75, and are used to control the locking and releasing of the secondary slider 77 at different positions.

[0030] In this embodiment, there are multiple main locking latches 74 and multiple secondary locking latches 78. The multiple main locking latches 74 are evenly distributed along the length direction of the main slide rail 71, and are used to lock and release the main slider 73 at different positions of the main slide rail 71, so as to adapt to different length adjustment requirements in the secondary adjustment process. The multiple secondary locking latches 78 are evenly distributed along the length direction of the secondary slide rail 75, and are used to lock and release the secondary slider 77 at different positions of the secondary slide rail 75, so as to adapt to different length adjustment requirements in the primary adjustment process.

[0031] During the primary and secondary adjustment processes, the length adjustment of the retractable mooring cable 3 is expressed by the following formula: For length adjustment, For the tension signal of the retractable mooring cable. For wind condition parameters, As the weight of wind condition parameters, For effective wave height, For effective wave height weighting, For ocean current parameters, For ocean current parameter weights, The preset coupling correction coefficient, The average locking release threshold tension for all locking catches. For spring stiffness, The wave excitation angular frequency, The wave represents the initial phase; Among the multiple locking latches on the slide rail, the locking latch number in the locked state is represented by the following formula: This indicates the locking latch number that is in the locked state; the other locking latches are in the released state. The locking latch numbers increase sequentially from the first end to the second end on the slide rail. The first end is the end where the stiffness spring connects to the slide rail. This indicates the fixed distance between two adjacent locking latches on the slide rail.

[0032] Specifically, for the passive length adjustment process of the spring in primary and secondary regulation, a formula for calculating the length adjustment amount that integrates environmental load and structural dynamic characteristics is constructed. The measured tension of the mooring cable is used as the core input, while marine environmental parameters such as wind conditions, significant wave height, and ocean currents are also incorporated. A coupling correction coefficient is used to achieve synergistic weighting of environmental load and tension, fully considering the comprehensive influence of complex marine conditions on the stress on the mooring cable. A nonlinear correction term containing the wave excitation angular frequency and initial phase is introduced, combined with structural dynamic correction coefficients, to accurately characterize the nonlinear deformation characteristics of the spring under alternating wave loads, avoiding the calculation errors of traditional linear models.

[0033] In addition, by using the locking buckle number calculation formula, the calculated target adjustment amount is matched with the spacing of the locking buckles evenly distributed on the slide rail. Combined with the dynamic correction of the wave phase, the optimal locking buckle position under the current working condition can be accurately determined, realizing the step-like and adaptive positioning of the mooring cable length, taking into account both adjustment accuracy and structural stability.

[0034] During the three-stage adjustment process, the length adjustment of the retractable mooring cable is expressed by the following formula: For length adjustment, For the tension signal of the retractable mooring cable. Where is the diameter of the chain-driven shaft, and is the motor rotation angle conversion factor. For the reduction ratio, For wind condition parameters, As the weight of wind condition parameters, For effective wave height, For effective wave height weighting, For ocean current parameters, For ocean current parameter weights, For servo motor transmission efficiency. This is the output stiffness coefficient of the servo motor.

[0035] For the active length adjustment process of a servo motor in a three-stage adjustment system, a formula for calculating the length adjustment amount is constructed that integrates mechanical transmission characteristics and environmental loads. By using the chain shaft diameter, motor angle conversion factor, and reduction ratio, the mechanical transmission relationship between the motor angle and the change in mooring cable length is accurately established. Based on the measured tension of the mooring cable, weighted loads of wind, wave, and current environmental parameters are superimposed to fully consider the impact tension requirements under extreme sea conditions. The servo motor output stiffness coefficient and transmission efficiency coefficient are introduced to characterize the motor's output characteristics and the energy loss of the transmission system, respectively, ensuring the accuracy and engineering practicality of the adjustment amount calculation. The target adjustment amount can be quickly calculated based on real-time operating conditions, driving the servo motor to complete the rapid and precise deployment and retraction of the mooring cable, achieving significant active adjustment under extreme sea conditions, effectively avoiding mooring cable tension overload, and improving the mooring system's resistance to extreme operating conditions.

[0036] In one embodiment of the present invention, the environmental monitoring device includes: The ring device 51 is installed on the wind turbine tower 1 and integrates a wave sensor for monitoring wave parameters and a current meter for monitoring ocean current parameters. An anemometer 52 is installed on the ring device 51 and is used to monitor wind parameters.

[0037] In this embodiment, the environmental monitoring equipment includes a ring device 51 and an anemometer 52. The ring device 51 is installed on the wind turbine tower 1 and is used to monitor wave and current parameters. The anemometer 52 is installed on the ring device 51 and is used to monitor wind parameters. The ring device 51 contains sensors and other sensing devices, which can transmit monitoring data to the monitoring center via satellite or wireless network. Simultaneously, the monitoring information can be transmitted to the central controller 8 via signal transmission, allowing the central controller 8 to make judgments based on wave parameters, current parameters, and wind parameters, thereby enabling the free adjustment of the length of the retractable mooring cable 3.

[0038] In addition, each pontoon of the floating foundation 2 is equipped with an independent central controller 8 near the central column, which can independently control the retractable mooring cable 3 connected to each pontoon. The central controller 8 can receive environmental information such as waves and currents, as well as external information such as mooring cable tension, and calculate operating commands through a preset algorithm to cope with extreme environmental conditions and protect the safety and stability of the structure.

[0039] One embodiment of the present invention also provides an adaptive adjustment method for a tension leg floating wind turbine mooring cable, applied to an adaptive adjustment system for a tension leg floating wind turbine mooring cable, the method comprising: Marine environmental parameters are monitored in real time using environmental monitoring equipment, and the marine environmental parameters are transmitted to the central controller. The tension sensor is used to monitor the tension signal of the retractable mooring cable in real time, and the tension signal is transmitted to the central controller. The central controller determines the length adjustment level based on the marine environmental parameters, tension signals, and a preset graded adjustment strategy. The length of the retractable mooring cable is adjusted using the length adjustment component according to the length adjustment level. The preset graded adjustment strategy includes: when the marine environmental parameters are within a preset normal operating condition parameter range and the tension signal is less than or equal to a first preset threshold, the length adjustment level is determined to be normal adjustment; when the marine environmental parameters are within a preset severe operating condition parameter range and the tension signal is greater than the first preset threshold and less than or equal to a second preset threshold, the length adjustment level is determined to be level one adjustment; when the marine environmental parameters are within a preset severe operating condition parameter range and the tension signal is greater than the second preset threshold and less than or equal to a third preset threshold, the length adjustment level is determined to be level two adjustment; when the marine environmental parameters are within a preset extreme operating condition parameter range and the tension signal is greater than a third preset threshold, the length adjustment level is determined to be level three adjustment.

[0040] In one embodiment of the present invention, the length adjustment assembly includes a primary adjustment device, a secondary adjustment device, and a tertiary adjustment device. Adjusting the length of the retractable mooring cable according to the length adjustment level using the length adjustment assembly includes: When the length adjustment level is in normal adjustment, the first-level adjustment device, the second-level adjustment device and the third-level adjustment device are all in a locked state. When the length adjustment level is the first level, the second and third level adjustment devices are locked, and the length of the retractable mooring cable is adjusted by the first level adjustment device. When the length adjustment level is level two, the level one adjustment device and the level three adjustment device are locked, and the length of the retractable mooring cable is adjusted by the level two adjustment device. When the length adjustment level is three, the first-level adjustment device and the second-level adjustment device are locked, and the length of the retractable mooring cable is adjusted using the third-level adjustment device.

[0041] In one embodiment of the present invention, during the primary and secondary adjustment processes, the length adjustment amount of the retractable mooring cable is expressed by the following formula: For length adjustment, For the tension signal of the retractable mooring cable. For wind condition parameters, As the weight of wind condition parameters, For effective wave height, For effective wave height weighting, For ocean current parameters, For ocean current parameter weights, The preset coupling correction coefficient, The average locking release threshold tension for all locking catches. For spring stiffness, The wave excitation angular frequency, The wave represents the initial phase; Among the multiple locking latches on the slide rail, the locking latch number in the locked state is represented by the following formula: This indicates the locking latch number that is in the locked state; the other locking latches are in the released state. The locking latch numbers increase sequentially from the first end to the second end on the slide rail. The first end is the end where the stiffness spring connects to the slide rail. This indicates the fixed distance between two adjacent locking latches on the slide rail; During the three-stage adjustment process, the length adjustment of the retractable mooring cable is expressed by the following formula: For length adjustment, For the tension signal of the retractable mooring cable. Where is the diameter of the chain-driven shaft, and is the motor rotation angle conversion factor. For the reduction ratio, For wind condition parameters, As the weight of wind condition parameters, For effective wave height, For effective wave height weighting, For ocean current parameters, For ocean current parameter weights, For servo motor transmission efficiency. This is the output stiffness coefficient of the servo motor.

[0042] It is understood that the method embodiments and apparatus embodiments provided by the present invention are based on the same inventive concept and have the same beneficial effects. The beneficial effects of the method embodiments will not be elaborated here.

[0043] It should be noted that, in this invention, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus.

[0044] Finally, it should be noted that the above description is merely a preferred embodiment of the present invention and is only used to illustrate the technical solution of the present invention, and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention are included within the scope of protection of the present invention.

Claims

1. An adaptive adjustment system for a tension leg floating wind turbine mooring cable, characterized in that, include: Wind turbine towers, floating foundations, retractable mooring cables, anchor foundations, environmental monitoring equipment, tension sensors, length adjustment components, and central controllers; The floating foundation is connected to the wind turbine tower and is used to support the wind turbine tower and provide buoyancy. One end of the retractable mooring cable is connected to the floating foundation, and the other end is connected to the anchoring foundation; The environmental monitoring equipment is installed on the floating base and is used to monitor marine environmental parameters in real time and transmit the marine environmental parameters to the central controller; The tension sensor is installed on the retractable mooring cable to monitor the tension signal of the retractable mooring cable in real time and transmit the tension signal to the central controller. The length adjustment component is located at the bottom of the floating foundation and is used to adjust the length of the retractable mooring cable; The central controller is electrically connected to the environmental monitoring equipment, the tension sensor, and the length adjustment component, respectively, and is used to determine the length adjustment level according to the marine environmental parameters, tension signal, and preset graded adjustment strategy, and control the length adjustment component to adjust the length of the retractable mooring cable according to the length adjustment level. The length adjustment assembly includes a primary adjustment device, a secondary adjustment device, and a tertiary adjustment device; The secondary adjustment device is located at the bottom of the floating foundation and is slidably connected to the primary adjustment device. The primary adjustment device is located at the bottom of the secondary adjustment device and is slidably connected to the tertiary adjustment device. The tertiary adjustment device is connected to the retractable mooring cable. The primary adjustment device is used to perform primary adjustment of the length of the retractable mooring cable while the secondary and tertiary adjustment devices are locked. The secondary adjustment device is used to perform secondary adjustment of the length of the retractable mooring cable while the primary and tertiary adjustment devices are locked. The three-stage adjustment device is used to adjust the length of the retractable mooring cable in three stages while the first-stage and second-stage adjustment devices are locked.

2. The system according to claim 1, characterized in that, The secondary adjustment device includes a main slide rail, a main stiffness spring, a main slider, and a main locking buckle; The main slide rail is located at the bottom of the floating foundation, and the main slider is located at the end of the main slide rail away from the floating foundation and is slidably connected to the main slide rail; One end of the main stiffness spring is connected to the main slide rail, and the other end is connected to the main slider; The main locking buckle is disposed on the main slide rail and is used to control the locking and releasing of the main slider.

3. The system according to claim 2, characterized in that, The primary adjustment device includes a secondary slide rail, a secondary stiffness spring, a secondary slider, and a secondary locking buckle; The secondary slide rail is disposed on the main slide rail, and the secondary slide rail is disposed at the end of the secondary slide rail away from the main slide rail and is slidably connected to the secondary slide rail; One end of the secondary stiffness spring is connected to the secondary slide rail, and the other end is connected to the secondary slider; The secondary locking buckle is disposed on the secondary slide rail and is used to control the locking and releasing of the secondary slider.

4. The system according to claim 3, characterized in that, The three-stage adjustment device includes a servo motor and a chain-storage shaft; The chain storage shaft is mounted on the secondary slider and connected to the servo motor; the retractable mooring cable is wound around the chain storage shaft. The chain storage shaft rotates under the drive of the servo motor to adjust the length of the retractable mooring cable.

5. The system according to claim 3, characterized in that, The number of main lock catches and auxiliary lock catches is multiple; Multiple main locking latches are evenly distributed on the main slide rail, and are used to control the locking and releasing of the main slider at different positions respectively; Multiple secondary locking latches are evenly distributed on the secondary slide rail, and are used to control the locking and releasing of the secondary slider at different positions.

6. The system according to claim 1, characterized in that, The environmental monitoring equipment includes: The ring-shaped device is installed on the wind turbine tower and integrates a wave sensor for monitoring wave parameters and a current meter for monitoring ocean current parameters. An anemometer, installed on the ring device, is used to monitor wind parameters.

7. An adaptive adjustment method for the mooring cable of a tension leg floating wind turbine, characterized in that, Applied to the system according to any one of claims 1-6, the method comprises: Marine environmental parameters are monitored in real time using environmental monitoring equipment, and the marine environmental parameters are transmitted to the central controller. The tension sensor is used to monitor the tension signal of the retractable mooring cable in real time, and the tension signal is transmitted to the central controller. The central controller determines the length adjustment level based on the marine environmental parameters, tension signals, and a preset graded adjustment strategy. The length of the retractable mooring cable is adjusted using the length adjustment component according to the length adjustment level. The preset graded adjustment strategy includes: when the marine environmental parameters are within a preset normal operating condition parameter range and the tension signal is less than or equal to a first preset threshold, the length adjustment level is determined to be normal adjustment; when the marine environmental parameters are within a preset severe operating condition parameter range and the tension signal is greater than the first preset threshold and less than or equal to a second preset threshold, the length adjustment level is determined to be level one adjustment; when the marine environmental parameters are within a preset severe operating condition parameter range and the tension signal is greater than the second preset threshold and less than or equal to a third preset threshold, the length adjustment level is determined to be level two adjustment; when the marine environmental parameters are within a preset extreme operating condition parameter range and the tension signal is greater than a third preset threshold, the length adjustment level is determined to be level three adjustment.

8. The method according to claim 7, characterized in that, The length adjustment assembly includes a primary adjustment device, a secondary adjustment device, and a tertiary adjustment device. Adjusting the length of the retractable mooring cable using the length adjustment assembly according to the length adjustment level includes: When the length adjustment level is in normal adjustment, the first-level adjustment device, the second-level adjustment device and the third-level adjustment device are all in a locked state. When the length adjustment level is the first level, the second and third level adjustment devices are locked, and the length of the retractable mooring cable is adjusted by the first level adjustment device. When the length adjustment level is level two, the level one adjustment device and the level three adjustment device are locked, and the length of the retractable mooring cable is adjusted by the level two adjustment device. When the length adjustment level is three, the first-level adjustment device and the second-level adjustment device are locked, and the length of the retractable mooring cable is adjusted using the third-level adjustment device.

9. The method according to claim 8, characterized in that, During the primary and secondary adjustment processes, the length adjustment of the retractable mooring cable is expressed by the following formula: For length adjustment, For the tension signal of the retractable mooring cable. For wind condition parameters, As the weight of wind condition parameters, For effective wave height, For effective wave height weighting, For ocean current parameters, For ocean current parameter weights, The preset coupling correction coefficient, The average locking release threshold tension for all locking catches. For spring stiffness, The wave excitation angular frequency, The wave represents the initial phase; Among the multiple locking latches on the slide rail, the locking latch number in the locked state is represented by the following formula: This indicates the locking latch number that is in the locked state; the other locking latches are in the released state. The locking latch numbers increase sequentially from the first end to the second end on the slide rail. The first end is the end where the stiffness spring connects to the slide rail. This indicates the fixed distance between two adjacent locking latches on the slide rail; During the three-stage adjustment process, the length adjustment of the retractable mooring cable is expressed by the following formula: For length adjustment, For the tension signal of the retractable mooring cable. Where is the diameter of the chain-driven shaft, and is the motor rotation angle conversion factor. For the reduction ratio, For wind condition parameters, As the weight of wind condition parameters, For effective wave height, For effective wave height weighting, For ocean current parameters, For ocean current parameter weights, For servo motor transmission efficiency. This is the output stiffness coefficient of the servo motor.

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