Control method of full-submersible multifunctional floating platform and multifunctional floating platform

Abstract

This invention relates to the field of marine engineering technology, and provides a control method for a fully submersible multifunctional floating platform and a multifunctional floating platform, including: acquiring meteorological data to predict future wind power generation and photovoltaic power generation; acquiring aquaculture stage and aquaculture water quality, and combining meteorological data to predict future aquaculture system base load; acquiring the current energy storage state of charge, and combining future wind power generation, photovoltaic power generation, and aquaculture system base load, with the objective function of minimizing the energy storage charge-discharge cycle depth and maintaining the energy storage state of charge within a healthy range, using model predictive control to perform power balance optimization calculations, and obtaining future energy storage charge-discharge power plans, hydrogen production device start-up and shutdown commands, and aquaculture equipment interruption scheduling plans. This improves the stability and safety of the platform's power supply system.

Description

Technical Field

[0001] This invention belongs to the field of marine engineering technology, and particularly relates to a control method for a fully submersible multi-functional floating platform and the multi-functional floating platform itself. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] As the development and utilization of marine resources continue to deepen, both marine energy development and marine aquaculture face their own technological challenges and development bottlenecks: Traditional offshore wind power platforms mostly use fixed foundations or semi-submersible or ship-type floating foundations, which face problems such as high costs, great influence from wind, waves and currents in deep sea, and difficult operation and maintenance; and their function is limited to power generation. Independent marine aquaculture platforms: These are typically net cages or fixed aquaculture vessels. Their energy supply relies on diesel generators or shore power, which is costly, environmentally unfriendly, and significantly affected by severe sea conditions, resulting in poor aquaculture environment stability. Energy supply for outlying islands: Isolated renewable energy generation (such as island microgrids) suffers from high volatility and low power supply reliability. They usually require large-capacity energy storage or backup diesel generators, which are not economical and environmentally friendly.

[0004] Currently, there are "fishery-solar complementary" pond aquaculture models and some concepts of coexistence between offshore wind power and aquaculture space. However, most of these are simply spatial stacking or physical isolation, lacking in-depth integration and synergistic optimization at the system level. When traditional floating foundations simultaneously bear the dynamic load of the towering wind turbine at the top, the wind load of large-area photovoltaic systems, and the hydrodynamic interference of the aquaculture system, their stability and structural safety face severe challenges.

[0005] More importantly, in deep-sea multi-functional integrated utilization scenarios where offshore wind power and aquaculture coexist, there is a prominent problem of mismatch between the highly random nature of wind and solar power output and the rigid demand of aquaculture loads. Wind and solar power generation are affected by meteorological and sea conditions such as wind speed, sunlight, and waves, resulting in significant intermittency, fluctuation, and uncertainty in output. In contrast, key equipment in aquaculture systems, such as oxygenation, feeding, water circulation, and water quality monitoring and control, are mostly rigid loads, requiring extremely high continuity and stability of power supply. Power outages, voltage fluctuations, or power surges can easily trigger oxygen deficiency, stress, or even large-scale mortality in aquaculture organisms, directly causing serious economic losses and aquaculture risks. Summary of the Invention

[0006] To address the technical problems mentioned above, this invention provides a control method for a fully submersible multifunctional floating platform and a multifunctional floating platform. For a fully submersible floating platform integrating wind power generation, photovoltaic power generation, energy storage system, and aquaculture functions, model predictive control is used to continuously optimize wind and solar power output, aquaculture load, and energy storage status in future periods. Under the premise of ensuring stable and reliable operation of aquaculture equipment, the method minimizes the energy storage charge-discharge cycle depth, significantly extends the service life of energy storage batteries, and reduces the total life cycle maintenance cost. At the same time, the energy storage state of charge is strictly maintained within a healthy range to avoid unsafe operating conditions such as overcharging and over-discharging, thereby improving the stability and safety of the platform's power supply system.

[0007] To achieve the above objectives, the present invention adopts the following technical solution: The first aspect of the present invention provides a control method for a fully submersible multi-functional floating platform, comprising: Acquire meteorological data to predict future wind power and photovoltaic power generation. By obtaining information on the aquaculture stage and water quality, and combining this with meteorological data, the baseline load of the aquaculture system at future moments can be predicted. The system obtains the current energy storage state of charge and combines it with the wind power generation, photovoltaic power generation and the basic load of the aquaculture system in the future. With the objective function of minimizing the energy storage charge-discharge cycle depth and maintaining the energy storage state of charge in the healthy range, model predictive control is used to perform power balance optimization calculations to obtain the energy storage charge-discharge power plan, the start-up and shutdown instructions of the hydrogen production device and the interruption scheduling plan of the aquaculture equipment in the future.

[0008] Furthermore, the objective function is: min( + ); Where t is the scheduling period; T is the total number of scheduling periods; C grid (t) is the purchased electricity price during time period t; P grid (t) represents the power exchanged with the grid during time period t; C wear (t) represents the wear and tear cost of the energy storage battery during time period t; These are the weighting coefficients; The energy storage state of charge during time period t.

[0009] Furthermore, the wear and tear cost of the energy storage battery during time period t is: ; Among them, P bess (t) is the energy storage charging and discharging power, k battery Q is the investment cost per unit capacity of energy storage. rated It is the rated capacity, N cycle(DoD) is the number of cycle lifetimes at a specific depth of discharge; For time intervals.

[0010] Furthermore, the constraints of the model predictive control include power balance constraints: P wt (t)+P pv (t)+P grid (t)+P bess (t)=P load_aqua (t)+P other (t); Among them, P wt (t) is the wind turbine power, P pv (t) represents the photovoltaic power, P grid (t) represents the power exchanged with the grid during time period t, P bess (t) is the energy storage charging and discharging power, P load_aqua (t) is the aquaculture load, P other (t) represents other loads.

[0011] Furthermore, the constraints of the model predictive control include energy storage system constraints: Energy storage state of charge update: SOC(t+1) = SOC(t) ; Energy storage state of charge upper and lower limits: SOC min ≤SOC(t)≤SOC max ; Energy storage charging and discharging power limitations: P bess_charge_max ≤P bess (t)≤P bess_charge_max ;

[0012] Among them, SOC max and SOC min These are the upper and lower limits of the energy storage state of charge; P bess_charge_max This refers to the upper limit of energy storage charging and discharging power. P represents the state of charge of the energy storage during time period t; bess (t) is the energy storage charging and discharging power; Q rated It is the rated capacity; For time intervals.

[0013] Furthermore, the constraints of the model predictive control include equipment output constraints: Fan power limit: 0≤P wt (t)≤P wt_rated ; Photovoltaic power limit: 0≤P pv (t)≤P pv_max (t).

[0014] Among them, P wt_rated This represents the upper limit of the fan power; P pv_max (t) represents the upper limit of photovoltaic power; P pv (t) represents photovoltaic power; P wt (t) represents the power of the wind turbine.

[0015] Furthermore, it also includes: when the monitored roll angle exceeds the limit, limiting the power of the fan or adjusting the angle of the fan blades.

[0016] A second aspect of the present invention provides a fully submersible multi-functional floating platform, comprising: a fully submersible floating foundation structure and a power generation and energy storage system, a marine aquaculture system, a radar monitoring system, a living system, and a collaborative intelligent control system disposed on the fully submersible floating foundation structure, wherein the collaborative intelligent control system is configured with a control method for a fully submersible multi-functional floating platform as described in any one of the first aspects.

[0017] Furthermore, the main body of the fully submersible floating foundation structure is at least one fully submersible float; the top of the fully submersible float is provided with an integrated deck area, which is located above the water surface and is connected to the underwater fully submersible float through multiple support columns; the bottom of the fully submersible float is connected to the upper end of an anchor chain, and the bottom end of the anchor chain is connected to a gravity anchor.

[0018] Furthermore, the power generation and energy storage system includes: a wind turbine generator set, a photovoltaic power generation array, and an energy storage device.

[0019] Compared with the prior art, the beneficial effects of the present invention are: This invention addresses the challenges of a fully submersible floating platform integrating wind power generation, photovoltaic power generation, energy storage systems, and aquaculture functions. Through model predictive control, it continuously optimizes future wind and solar power output, aquaculture load, and energy storage status. This minimizes the energy storage charge-discharge cycle depth while ensuring stable and reliable operation of the aquaculture equipment, significantly extending the lifespan of the energy storage battery and reducing overall lifecycle maintenance costs. Simultaneously, it strictly maintains the energy storage state of charge within a healthy range, avoiding unsafe operating conditions such as overcharging and over-discharging, thus enhancing the stability and safety of the platform's power supply system. Attached Figure Description

[0020] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0021] Figure 1 This is an overall structural diagram of a fully submersible multi-functional floating platform according to Embodiment 1 of the present invention; Figure 2 This is a structural diagram of the fully submersible floating foundation according to Embodiment 1 of the present invention; Figure 3 This is a diagram of the upper structure of the fully submersible multi-functional floating platform according to Embodiment 1 of the present invention; Figure 4 This is a schematic diagram of the roll angle in Embodiment 2 of the present invention. Detailed Implementation

[0022] 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.

[0023] It should be noted that the following detailed description is illustrative and intended to provide further explanation of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0024] Example 1 This embodiment provides a fully submersible, multi-functional floating platform.

[0025] This embodiment provides a fully submersible, multi-functional floating platform that can deeply integrate multiple functions and maximize overall performance and economic benefits through structural innovation and intelligent control.

[0026] This embodiment provides a fully submersible, multi-functional floating platform, such as Figure 1 As shown, it includes a fully submersible floating foundation structure 1, a power generation and energy storage system 2, a marine aquaculture system 3, a radar monitoring system 4, a living system 5, and a collaborative intelligent control system 6.

[0027] like Figure 2 As shown, the main body of the fully submersible floating foundation structure 1 is at least one large fully submersible floating body 13 (such as a column-stabilized, box-type, or a combination thereof), whose design draft is greater than the extreme wave height of the target sea area, so that the main body is located in calm waters below the water surface for a long time.

[0028] like Figure 2 As shown, the top of the fully submersible float 13 is provided with an integrated deck area 11, which is located above the water surface and is connected to the underwater fully submersible float 13 through multiple support columns 12.

[0029] The interior of the support column 12 can be designed as an equipment channel or a pipeline channel.

[0030] The fully submersible buoy 13 is equipped with ballast tanks and a balance adjustment system to control the platform's diving depth and attitude balance.

[0031] The aquaculture cage 31 is located on the deck area 11, and the side of the deck area 11 is provided with standardized suspension interfaces or rigid connection points for connecting the aquaculture cage 31.

[0032] A distributed mooring system is used for positioning. The upper end of the anchor chain 14 is connected to the bottom of the fully submersible float 13, and the bottom end of the anchor chain 14 is connected to the gravity anchor 15 to ensure the overall stability of the fully submersible float 13.

[0033] like Figure 3 As shown, the power generation and energy storage system 2 includes: Wind turbine generator set 21: It is arranged in a specific position in the integrated deck area 11. Its tower bottom is connected to the deck through an elastic connection flange with fatigue resistance to buffer the bending moment caused by minor foundation sway. Photovoltaic power generation array 22: It is laid in most of the integrated deck area 11 and fixed with a lightweight, corrosion-resistant bracket; Energy storage device 23: It adopts a containerized electrochemical energy storage system (such as lithium-ion batteries) and is arranged in the sealed compartment of the integrated deck area 11; it can also integrate an electrolytic water hydrogen production device 24 to convert excess electrical energy into hydrogen for storage. Energy Management Hub 25: Located in a sealed compartment in the integrated deck area 11, it includes converters, transformers, distribution cabinets, etc., to realize the electrical connection and power conversion of power generation, energy storage, and electrical loads.

[0034] like Figure 3 As shown, the marine aquaculture system includes: Aquaculture cage 31: Suspended to the side of integrated deck area 11 by flexible cables or rigid frames, forming an attached gravity cage group, which uses deep, stable seawater for aquaculture; Aquaculture auxiliary facilities 32: located on the integrated deck area 11, including an automatic feeding system, water monitoring sensors (temperature, dissolved oxygen, pH, etc.), circulating water pumps, lighting, and possible temperature control equipment (such as utilizing waste heat from energy storage systems or power generation waste heat).

[0035] like Figure 3 As shown, Radar Monitoring System 4 is connected to the platform's central control center via a high-speed data bus, presenting the processed comprehensive situational information to the operator's seat in real time. Simultaneously, it works in conjunction with the platform's energy management system to optimize its own power consumption, ensuring efficient operation within the platform's energy quota. Furthermore, its detection data can directly serve the platform's security and defense systems (such as close-in weapon systems), navigation systems (route planning and collision avoidance), and communication systems (relay link selection), becoming the core sensing foundation enabling the intelligent and safe operation of the entire floating platform.

[0036] like Figure 3 As shown, the living system 5 includes: Seawater desalination module 51: Removes salt and other impurities from seawater using physical or chemical methods to obtain fresh water; establishes three independent pipe networks for drinking water, domestic water (washing, bathing), and irrigation / cleaning water through a graded water supply system; high-quality fresh water is used for drinking, and some treated water is used for non-direct contact purposes, realizing graded water supply and improving overall water use efficiency.

[0037] Living System 52: The living cabin adopts a standardized and modular design, which can be flexibly spliced ​​and expanded according to the number of people on the platform; the structural materials are lightweight and high-strength composite materials, which have excellent corrosion resistance, wind and waves resistance and fire resistance; the cabin has good thermal insulation performance, and together with the fresh air system, it can resist the harsh environment of high humidity, high salt spray and large temperature difference at sea.

[0038] like Figure 3 As shown, the collaborative intelligent control system 6 is a multi-energy complementary and aquaculture load collaborative controller: it receives meteorological forecast data, real-time power of wind turbines and photovoltaics, energy storage SOC (state of charge), priority of aquaculture load demand, and aquaculture environment sensor data.

[0039] The core control logic of the Collaborative Intelligent Control System 6 includes: (1) Power balance optimization calculation: Energy priority dispatch: Wind and solar power are prioritized to meet the constant load of the aquaculture system (such as circulating water oxygen supply and basic monitoring), and excess power is used to charge energy storage or for hydrogen production; when wind and solar power are insufficient, energy storage discharges to ensure the critical load of aquaculture. Production and energy storage linkage: Before predicting continuous severe weather (sudden reduction in wind and solar power), the controller will ensure that the energy storage is fully charged in advance, and may automatically reduce the energy consumption of non-critical aquaculture activities (such as reducing the frequency of feeding), and enter the "energy saving and supply guarantee" mode. Optimization based on the aquaculture cycle: Different energy dispatching strategy templates are preset according to the differences in energy consumption and water quality sensitivity at different aquaculture stages (seedling, growth, and harvest). Taking the seedling stage as an example, after selecting this strategy template: Initialization: Read the current breeding stage as "seedlings", set the dissolved oxygen safety threshold to 6 mg / L, and the water temperature fluctuation range to ±0.3℃; Real-time monitoring: The sensor detected that the water temperature dropped to the critical value at 4:00 AM, and the dissolved oxygen dropped to 5.2 mg / L due to biological oxygen consumption; Decision execution: Immediately execute the "Protect Seedlings" instruction in the rule base: Start the heat pump and increase the aerator power from 50% to 100%; Energy dispatch: Since wind power is weak and photovoltaic output is zero at this time, the energy storage SOC is judged to be 65%, which is sufficient to support the operation of key equipment for 8 hours. Therefore, the current instructions are maintained and a notification of "entering seedling supply guarantee mode" is sent to the management personnel.

[0040] (2) Structural safety interlock: When the mooring tension is too high or the floating body tilts beyond the limit, the power of the blower is automatically limited or the angle of the blower blades is adjusted. At the same time, an early warning is sent to the aquaculture system, and protective operations such as sinking the net cage are initiated when necessary.

[0041] (3) Intelligent sensing radar: It integrates multiple functions such as wide-area surveillance, target identification, threat warning, communication relay and navigation assistance. It provides floating platforms with all-weather and all-airspace situational awareness capabilities, ensures the safety of platform operations and personnel, and serves as a key hub for information interaction between the platform and the external environment.

[0042] This embodiment successfully integrates multiple functions onto a specially designed fully submersible platform and achieves efficient, stable, and economical operation at the system level through intelligent control.

[0043] This embodiment provides a fully submersible multi-functional floating platform with excellent environmental adaptability: the fully submersible foundation avoids the direct impact of water surface waves, greatly reduces the platform's motion response, provides a more stable platform for the towering wind turbines and precision equipment on the upper part, and extends the equipment's lifespan.

[0044] This embodiment provides a fully submersible, multi-functional floating platform with significant economic benefits: it shares a single basic structure, mooring system, power facilities, and operation and maintenance team, thus reducing the unit costs of wind power, photovoltaic power, and aquaculture; energy self-sufficiency reduces fuel costs for aquaculture, and green electricity may bring carbon sinks and green electricity premiums.

[0045] This embodiment provides a fully submersible, multi-functional floating platform with high energy reliability and utilization efficiency: multi-energy complementarity and energy storage ensure a continuous power supply, especially crucial for aquaculture; aquaculture load, as a relatively stable "basic load," improves the platform's local renewable energy consumption rate and reduces wind and solar curtailment.

[0046] This embodiment provides a fully submersible multifunctional floating platform with intelligent system collaboration: through the intelligent control system, it realizes the dynamic optimal matching of energy production, storage and consumption, elevates physical integration to the level of system optimization, and generates a synergistic effect of "1+1>2".

[0047] Example 2 This embodiment provides a control method for a fully submersible multi-functional floating platform, applied to the fully submersible multi-functional floating platform described in Embodiment 1, including: Step 1: Initialization, read the current time, breeding stage (set as growth period), and weather forecast (wind speed, light, temperature, etc. for the next 24 hours).

[0048] Step 2: Based on weather forecasts, predict the power generation curves P_pre(t) for wind power and photovoltaic power in the next 24 hours.

[0049] Step 3: Obtain the current SOC (State of Charge) of the energy storage system and the base load curve P of the aquaculture system. load_base (t) (mainly circulating pumps, monitoring, lighting, etc.).

[0050] Step 4: Based on the power generation curves of wind and solar power for the next 24 hours, the current energy storage SOC status, and the basic load curve of the aquaculture system, use model predictive control to perform power balance optimization calculations.

[0051] (1) The objective function is: to minimize the energy storage charge-discharge cycle depth and keep the energy storage SOC in the healthy range of 50%-80% under the premise of satisfying the basic load curve of the aquaculture system.

[0052] "Minimizing the energy storage charge-discharge cycle depth" is transformed into minimizing the lifetime loss cost of the energy storage system or minimizing the equivalent number of cycles, thus the objective function can be constructed as follows: min( ); Where: t is the scheduling period (e.g., the next 24 hours, with a time interval of 1 hour). Then T=24); C grid (t) is the purchased electricity price for time period t (if the platform is connected to the grid); P grid (t) represents the power exchanged with the grid during time period t (positive for purchasing electricity, negative for selling electricity); C wear (t) represents the wear and tear cost of the energy storage battery during time period t, used to quantify the "cycle depth," which is closely related to the depth of discharge (DoD). ; Among them, P bess (t) represents the energy storage charging and discharging power (discharging is positive), k battery Q is the investment cost per unit capacity of energy storage. rated It is the rated capacity, N cycle (DoD) is the number of cycle lifetimes at a specific depth of discharge; This is the time interval; by minimizing this, it tends to be shallow charge and discharge, automatically maintaining the SOC within a healthy range.

[0053] To further maintain SOC between 50% and 80%, a SOC health interval penalty term can be added to the objective function, thus the objective function can be constructed as follows: min( + ); in, These are the weighting coefficients.

[0054] This quadratic term will occur during the energy storage SOC state. A penalty is added when the value deviates from the median by 65%, guiding the system to automatically maintain the SOC within the set healthy range.

[0055] (2) Constraints include the upper and lower limits of equipment power and the charging and discharging rate of energy storage.

[0056] Power balance constraints: P wt (t)+P pv (t)+P grid (t)+P bess (t)=P load_aqua (t)+P other (t); Among them, P wt It is the fan power, P pv It refers to photovoltaic power, P. load_aqua It is the aquaculture load (including the basic load P of the aquaculture system). load_base (t)), P other For other loads.

[0057] Constraints of energy storage systems: SOC state update: SOC(t+1) = SOC(t) ; SOC upper and lower limits: SOC min ≤SOC(t)≤SOC max (i.e., 0.5 ≤ SOC(t) ≤ 0.8); where SOC max and SOC min These are the upper and lower limits of SOC, respectively. Energy storage charging and discharging power limitations: P bess_charge_max ≤P bess (t)≤P bess_charge_max Among them, P bess_charge_max This is the upper limit of the energy storage charging and discharging power.

[0058] Equipment output constraints: Fan power limit: 0≤P wt (t)≤P wt_rated Among them, P wt_rated This is the upper limit of the fan power. Photovoltaic power limit: 0≤P pv (t)≤P pv_max (t) (affected by light intensity), P pv_max (t) represents the upper limit of photovoltaic power.

[0059] (3) Optimization algorithm. The Model Predictive Control (MPC) framework is adopted.

[0060] MPC is a rolling optimization strategy that is particularly suitable for systems with predictive information (such as weather forecasts). At each decision point, it can recalculate the optimal control sequence for a future period based on the latest system state and predictive information, execute only the first step, and then enter the next cycle. This "rolling optimization and feedback correction" mechanism is very well adapted to the randomness of the marine environment.

[0061] Algorithm input: Forecast information: Wind speed and light intensity curves for the next 24 hours (from weather forecast).

[0062] System status: Current SOC value of energy storage, base load curve P of the aquaculture system load_aqua (t), the current load demand priority of the aquaculture system (seedlings / growing stage).

[0063] Model parameters: wind turbine power curve, photovoltaic conversion efficiency, energy storage capacity, and upper and lower limits of equipment power.

[0064] Output: Equipment instruction set: Energy storage charging and discharging power plan for the next 24 hours (or shorter periods), start and stop instructions for hydrogen production units, and interruptible scheduling plans for non-critical aquaculture equipment (such as feeders).

[0065] Warning information: If optimization calculations find that even if energy storage is exhausted, it will not be able to meet critical loads at some point in the future, an energy shortage warning will be sent to the operation and maintenance personnel in advance.

[0066] Step 5: Execute the optimization results. Transform the energy dispatch plan into specific operational instructions (such as charging, discharging, hydrogen production, power limiting, feeding, etc.) for wind turbines, energy storage, hydrogen production equipment, and aquaculture auxiliary systems.

[0067] For example, during the day when there is sufficient sunlight, photovoltaic power, after meeting the base load, is prioritized to charge the energy storage to 80%. At night when wind power output is high, in addition to meeting the load, excess power is used for hydrogen production (if equipped) or to maintain the energy storage's state of charge (SOC). When a strong wind event is predicted for noon the next day (when wind turbines may be limited in power), the controller will charge the energy storage to 85% overnight to cope with a possible power generation shortfall at noon.

[0068] Step 6: Monitor structural safety data in real time. If the detected roll angle is greater than 3 degrees, send a "reduced load" request to the wind turbine main controller and notify the aquaculture system to check the cage status.

[0069] like Figure 4 As shown, the roll angle is the angle between the horizontal axis (Y-axis) of the float and the horizontal plane.

[0070] The buoy tilts beyond the limit: the roll angle is greater than 3 degrees.

[0071] Wind turbines operating at limited power: A "load reduction request" is the specific instruction for wind turbines to operate at limited power. When the wind turbine master controller receives this request, it will reduce the power generation by adjusting the blade angle or generator torque, thereby reducing the wind load on the superstructure and alleviating the tilting of the floating body and mooring tension.

[0072] Early warning and coordination: "Notifying the aquaculture system to check the status of the cages" is part of the early warning mechanism.

[0073] It should be noted that each module in this embodiment corresponds one-to-one with each step in Embodiment 1, and their specific implementation processes are the same, so they will not be repeated here.

[0074] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A control method for a fully submersible multi-functional floating platform, characterized in that, include: Acquire meteorological data to predict future wind power and photovoltaic power generation. By obtaining information on the aquaculture stage and water quality, and combining this with meteorological data, the baseline load of the aquaculture system at future moments can be predicted. The system obtains the current energy storage state of charge and combines it with the wind power generation, photovoltaic power generation and the basic load of the aquaculture system in the future. With the objective function of minimizing the energy storage charge-discharge cycle depth and maintaining the energy storage state of charge in the healthy range, model predictive control is used to perform power balance optimization calculations to obtain the energy storage charge-discharge power plan, the start-up and shutdown instructions of the hydrogen production device and the interruption scheduling plan of the aquaculture equipment in the future.

2. The control method for a fully submersible multi-functional floating platform as described in claim 1, characterized in that, The objective function is: min( + ); Where t is the scheduling period; T is the total number of scheduling periods; C grid (t) is the purchased electricity price during time period t; P grid (t) represents the power exchanged with the grid during time period t; C wear (t) represents the wear and tear cost of the energy storage battery during time period t; These are the weighting coefficients; The energy storage state of charge during time period t.

3. The control method for a fully submersible multi-functional floating platform as described in claim 2, characterized in that, The wear and tear cost of the energy storage battery during time period t is: ； Among them, P bess (t) is the energy storage charging and discharging power, k battery Q is the investment cost per unit capacity of energy storage. rated It is the rated capacity, N cycle (DoD) is the number of cycle lifetimes at a specific depth of discharge; For time intervals.

4. The control method for a fully submersible multi-functional floating platform as described in claim 1, characterized in that, The constraints of the model predictive control include power balance constraints: P wt (t)+P pv (t)+P grid (t)+P bess (t)=P load_aqua (t)+P other (t); Among them, P wt (t) is the wind turbine power, P pv (t) represents the photovoltaic power, P grid (t) represents the power exchanged with the grid during time period t, P bess (t) is the energy storage charging and discharging power, P load_aqua (t) is the aquaculture load, P other (t) represents other loads.

5. The control method for a fully submersible multi-functional floating platform as described in claim 1, characterized in that, The constraints of the model predictive control include energy storage system constraints: Energy storage state of charge update: SOC(t+1) = SOC(t) ; Energy storage state of charge upper and lower limits: SOC min ≤SOC(t)≤SOC max ; Energy storage charging and discharging power limitations: P bess_charge_max ≤P bess (t)≤P bess_charge_max ; Among them, SOC max and SOC min These are the upper and lower limits of the energy storage state of charge; P bess_charge_max This refers to the upper limit of the energy storage charging and discharging power. P represents the state of charge of the energy storage during time period t; bess (t) is the energy storage charging and discharging power; Q rated It is the rated capacity; For time intervals.

6. The control method for a fully submersible multi-functional floating platform as described in claim 1, characterized in that, The constraints of the model predictive control include equipment output constraints: Fan power limit: 0≤P wt (t)≤P wt_rated ; Photovoltaic power limit: 0≤P pv (t)≤P pv_max (t). Among them, P wt_rated This represents the upper limit of the fan power; P pv_max (t) represents the upper limit of photovoltaic power; P pv (t) represents photovoltaic power; P wt (t) represents the power of the wind turbine.

7. The control method for a fully submersible multi-functional floating platform as described in claim 1, characterized in that, Also includes: When the yaw angle exceeds the limit, the fan should be operated at limited power or the fan blade angle should be adjusted.

8. A fully submersible multi-functional floating platform, characterized in that, include: The fully submersible floating foundation structure and the power generation and energy storage system, marine aquaculture system, radar monitoring system, living system and collaborative intelligent control system set on the fully submersible floating foundation structure, wherein the collaborative intelligent control system is configured with a control method for a fully submersible multi-functional floating platform as described in any one of claims 1-7.

9. A fully submersible multi-functional floating platform as described in claim 8, characterized in that, The main body of the fully submersible floating foundation structure is at least one fully submersible float; the top of the fully submersible float is provided with an integrated deck area, which is located above the water surface and is connected to the underwater fully submersible float through multiple support columns; the bottom of the fully submersible float is connected to the upper end of an anchor chain, and the bottom end of the anchor chain is connected to a gravity anchor.

10. A fully submersible multi-functional floating platform as described in claim 9, characterized in that, The power generation and energy storage system includes: wind turbine generators, photovoltaic power generation arrays, and energy storage devices.

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