Adaptive mooring power transmission offshore power replenishment system and method

Abstract

The application relates to the technical field of offshore wind power, and discloses an offshore power supply system and method for adaptive mooring power transmission. The system separates length compensation and twist compensation in physical structure and decouples the control logic, a control unit specifies the action of a corresponding compensation mechanism according to the type of ship displacement, and instructs another mechanism to keep the current state, so that the cable only bears a single mechanical load in the same period. When the ship line displacement, the length compensation mechanism performs adjustment, and the rotation compensation mechanism is locked, so that the cable only bears axial tension; when the ship angular displacement, the rotation compensation mechanism performs a twist release action, and the length compensation mechanism keeps the current length, so that the electric slip ring releases stress in a pure twist state, and damage caused by superposition of stretching and twisting is avoided.

Description

Technical Field

[0001] This invention relates to the field of offshore wind power technology, and more specifically to an adaptive mooring power transmission system and method for offshore power replenishment. Background Technology

[0002] With the acceleration of the green and low-carbon transformation of the global shipping industry and the advancement of deep-sea resource development, utilizing renewable energy sources such as floating wind power in deep-sea areas to provide green electricity for vessels operating in the open sea has become a key technological approach to address the dual needs of deep-sea green electricity consumption and ship carbon reduction.

[0003] Currently, conventional temporary power supply solutions for deep-sea areas mainly rely on a separate combination of mooring buoys and floating cables. Specifically, a single-point buoy with only physical mooring function is pre-positioned in the sea area, and the ship is moored to the buoy with its mooring line to limit its drift. When power is needed, an auxiliary vessel retrieves a flexible dynamic submarine cable suspended from the side of the buoy, and the cable plug is physically connected to the power receiving box on the ship's deck using manual labor or a simple crane. To cope with the ship's rolling and pitching caused by wind and waves, the cable is usually left with a long slack section or equipped with a simple spring winch, and the cable length is adjusted manually based on experience to ensure that the cable is not broken.

[0004] However, in deep-sea anchorages, ships are subjected to swaying and heave under the influence of wind, waves, and currents, causing changes in cable length. Frequent bow turns also cause cable kinks. Once the ship turns, the same cable must be stretched by the winch to compensate for the displacement and simultaneously bear torsional moments at its ends. This combined stress generates severe friction and deformation within the cable's armor and insulation layers. In actual engineering projects, this often leads to cable sheath cracking, core wire breakage, or slip ring jamming within just a few hours to a few days. This not only severely shortens equipment lifespan but can also potentially cause serious electrical leakage accidents at sea. Summary of the Invention

[0005] This invention provides an adaptive moored power supply system and method for marine power replenishment, which solves the problem that when ships anchored in deep seas are subjected to translational and rotational motion under the influence of wind, waves and currents, the power transmission cables are simultaneously subjected to tensile and torsional loads, causing fatigue damage to the cable armor and insulation layers, which in turn leads to cable breakage, slip ring jamming and leakage accidents.

[0006] In a first aspect, the present invention provides an adaptive moored power transmission marine power supply system, comprising a buoy, a cable, a length compensation mechanism, a slewing compensation mechanism, and a control unit. The buoy floats on the sea surface, providing a means for mooring a vessel and allowing it to slew around the buoy; the cable passes through the buoy and is used to transmit power to the vessel; the length compensation mechanism is disposed on the buoy and is used to extend and retract the cable to compensate for its length; the slewing compensation mechanism is disposed at the power supply end of the cable and allows the end of the cable to slew relative to the buoy to release torsional stress in the cable; the control unit is communicatively connected to the length compensation mechanism and the slewing compensation mechanism, and is configured to: in response to linear displacement of the vessel, trigger the length compensation mechanism to perform a length adjustment action and instruct the slewing compensation mechanism to maintain its current state; in response to angular displacement of the vessel, trigger the slewing compensation mechanism to perform a torsion release action and instruct the length compensation mechanism to maintain its current length.

[0007] Beneficial effects: By physically separating the length compensation function from the torsional compensation function and decoupling them in the control logic, the control unit explicitly specifies the corresponding compensation mechanism to perform the action according to the ship's displacement type, and instructs the other mechanism to maintain its current state. This ensures that the length compensation mechanism and the slewing compensation mechanism are never in working state at the same time, so that the cable only bears a single type of mechanical load within the same time period. In use, when the control unit triggers the length compensation mechanism to perform the length adjustment action in response to the ship's linear displacement, it simultaneously instructs the slewing compensation mechanism to maintain its current state, locking the slewing degree of freedom at the cable power supply end. This prevents the cable winding section from bearing torsional torque due to accidental rotation at the end during the length compensation process, ensuring that the length compensation mechanism only needs to resist axial tension when winding and unwinding the cable. The interlayer arrangement of the cable on the reel is not affected by torsional deformation, thereby maintaining the accuracy and stability of the length compensation action. When the control unit triggers the slewing compensation mechanism to perform a torsional release action in response to the ship's angular displacement, it simultaneously instructs the length compensation mechanism to maintain the current length, so that the cable's extended length remains constant during slewing. This ensures that when the slewing compensation mechanism performs torsional release, the cable segment in which it is located does not bear additional axial tension or dynamic impact caused by the retraction and extension actions, so that the slip ring always completes stress release in a pure torsional state, avoiding the superposition effect of tension and torsion that accelerates the wear of the mechanism.

[0008] In one optional implementation, the control unit is further configured to execute a tension grading adjustment strategy: acquiring the real-time tension value of the cable and preset a rated operating threshold and a safety limit threshold; when the real-time tension value is less than the rated operating threshold, driving the length compensation mechanism to output a holding torque to maintain the cable shape in a torque closed-loop mode, and when the tension is lower than the lower limit, slowly winding the cable to raise the tension back to the set value; when the tension is higher than the set value, slowly releasing the cable to lower the tension back to the set value; when the real-time tension value is between the rated operating threshold and the safety limit threshold, performing active following adjustment according to the tension change trend: if the tension continues to rise, controlling the length compensation mechanism to actively release the cable to match the ship's departing speed; if the tension continues to fall, controlling the length compensation mechanism to wind up the cable to compensate for the displacement.

[0009] Beneficial effects: By setting rated working thresholds and ultimate safety thresholds, the winding and unwinding actions of the electric cable reel are strictly limited within the safe tension range. This ensures that the cable is not excessively stretched during length compensation, creating stable axial force conditions for the slip ring to independently undertake torsional compensation. It also prevents tension fluctuations from interfering with the torsional release action, thus ensuring the reliable execution of the translation and rotation decoupling mechanism. The steady-state constant tension maintenance mode maintains the cable's sag shape with low-speed cable winding, preventing the cable from slackening or accumulating on the seabed due to insufficient tension. By pre-maintaining appropriate tension, the risk of cable slackening or accumulating and twisting on the seabed due to insufficient tension is effectively reduced, making the torsional compensation effect of the slip ring smoother. In use, when the ship experiences heave and sway due to wind and waves, the active follow-up adjustment can promptly wind and unwind the cable according to the tension change trend, matching the ship's displacement speed and avoiding sudden increases or decreases in tension, thus suppressing the impact of sudden tension changes on the cable insulation layer.

[0010] In one alternative embodiment, the adaptive moored power transmission marine power supply system further includes multiple seabed anchoring components, which are distributed in a ring or circumferentially spaced around the buoy, and each seabed anchoring component is connected to the bottom of the buoy by a flexible mooring chain.

[0011] Beneficial effects: Multiple seabed anchoring components are arranged in a ring and converge at the bottom of the pontoon via a flexible chain. This restricts the pontoon's planar movement within a safe radius centered on the anchoring foundation group. When the ship experiences pitching or rolling, the pontoon's drift is effectively restrained by the chain system, preventing it from drifting away from the ship indefinitely. This ensures that the required length change for compensation of the electric cable reel remains within its winding stroke and tension adjustment window, preventing the cable from being stretched to its limit and overloaded due to excessive pontoon drift. This ensures that the length compensation mechanism will not fail due to exceeding the stroke limit, thus eliminating the dangerous condition of superimposed tensile and torsional stresses. Simultaneously, the multi-anchor chain convergence connection has self-resetting stiffness characteristics, effectively buffering the instantaneous impact of waves on the pontoon body, significantly reducing the pontoon's roll and pitch amplitudes, and providing a stable platform for the internal cables and compensation mechanism.

[0012] In one alternative embodiment, the number of the flexible mooring chains is the same as the number of the seabed anchoring components, and the plurality of the seabed anchoring components are distributed on the same circumference to constrain the displacement of the buoy in the horizontal direction.

[0013] Beneficial effects: By confining all seabed anchoring components to the same circumference, the horizontal displacement of the buoy in all directions is strictly limited to the same design radius. This ensures that the maximum horizontal displacement caused by the ship's pitching and rolling is predictable, and the required compensation length change of the electric cable reel will never exceed its winding stroke and tension adjustment window. This avoids the cable being stretched to its limit due to excessive buoy drift and eliminates the superposition of ultimate tensile loads under torsional conditions. Furthermore, by ensuring that the number of chains is consistent with the number of anchoring components and is distributed in a cocircular manner, any horizontal deviation will simultaneously affect multiple anchor chains, causing the buoy to always tend to return to the center of the circumference. This suppresses tension abrupt changes caused by asymmetric drift and provides a stable tension input for decoupled control.

[0014] In one alternative embodiment, a vertically extending protective tube is fixedly connected to the top of the pontoon, the cable passes through the protective tube, and a limit locking element is provided at the upper end of the protective tube for releasably fixing the end of the cable to the upper end of the protective tube.

[0015] Beneficial effects: The vertical conduit constrains the cable's exit path from inside the buoy to a vertical direction, ensuring the cable exit point is always near the buoy's central axis. When the vessel rotates around the buoy, the conduit ensures the cable only twists along this vertical axis, preventing additional bending stress from lateral bending. The limiting locking mechanism releasably secures the cable end to the upper end of the conduit in the off-power state, allowing the end to move synchronously with the buoy as a whole. This prevents reciprocating torsional oscillations relative to the clamp due to slight buoy movement in wind and waves, effectively preventing wear and insulation fatigue caused by repeated accumulation of small torsional loads on the cable end during long standby periods. It also ensures the torsion compensation mechanism remains in its initial zero-position state for the next docking. Furthermore, by fixing the cable end above the water surface with the upper end of the protective tube and the limiting locking component, the end is protected from repeated pounding by waves and the impact of seawater buoyancy. This prevents the waterproof protective sleeve and electric slip ring assembly at the end from non-working rotation due to external disturbances, ensuring that the electric slip ring is in the zero position or a known phase before each docking. This allows the control unit to accurately determine the angular displacement of the ship's subsequent rotation, thereby precisely executing the translation and rotation decoupling control strategy.

[0016] In one alternative embodiment, the limiting locking member is located above the designed high water level to keep the end of the cable above the water surface in the non-powered state, thus isolating it from the seawater environment.

[0017] Beneficial effects: By consistently maintaining the cable end above the designed high water level, the slip ring assembly and end metal contacts are completely protected from seawater immersion and the alternating wet and dry tidal environment, preventing sea salt crystallization, electrochemical corrosion, and the attachment and growth of marine organisms such as barnacles within the slip ring gaps. This ensures the slip ring maintains low-friction, unimpeded free rotation capability even after long periods of standby, preventing the slip ring from seizing due to corrosion and thus avoiding the superposition of torsional torque and cable tensile stress on the same cross-section. Simultaneously, keeping this section of the structure in a dry atmospheric environment effectively maintains the original mechanical properties of the cable and connectors near the end, ensuring that during subsequent power supply operations, when tension is applied by the electric cable reel, the cable end will not prematurely fracture or tear its sheath due to material strength degradation under tensile loads and torsional forces.

[0018] In one alternative embodiment, the cable includes a first cable and a second cable. The first cable connects the power supply unit and the transformer unit, and the second cable connects the transformer unit and the mooring power transmission module. The second cable includes a dynamic section that extends from the lower end of the buoy and extends along the seabed. Multiple buoyancy retainers are spaced apart on the dynamic section to maintain a predetermined shape in the water.

[0019] Beneficial effects: Multiple buoyancy retainers allow the dynamic section to form a specific arched or wave-shaped spatial configuration in the water, such as a catenary. When the buoy experiences vertical or horizontal displacement due to the ship's heave and sway, this configuration can absorb some of the displacement through its own bending deformation, rather than transferring all the displacement to the electric cable reel for length compensation. This effectively reduces the frequency and magnitude of cable length compensation, resulting in smoother changes in tensile stress. This prevents tensile stress from exceeding limits before torsional compensation is completed due to response lag during large-scale compensation. Simultaneously, the supporting effect of the buoyancy retainers ensures a smooth transition of the dynamic section after it exits the bottom of the buoy, preventing the cable from sag sharply at the outlet due to its own weight, thus ensuring that the cable bending radius at the bottom of the buoy is always greater than the safe value. This releases the bending stress concentration point at this critical location. When the buoy rotates with the ship, this area only experiences pure torsional deformation without significant bending stress superposition, thereby reducing the risk of accelerated fatigue cracking caused by the combined effects of bending and torsion on this section.

[0020] In one optional embodiment, a wiring adapter module is provided inside the pontoon. One end of the wiring adapter module is connected to the dynamic section, and the other end is connected to the length compensation mechanism and the rotation compensation mechanism respectively. This realizes the physical path separation of tensile and torsional loads, fundamentally blocking the transmission of composite stress. It can release the internal friction and wear of the armor layer of the dynamic section caused by repeated torsion, so that its life depends only on tensile and bending fatigue, and reduce the risk of fatigue fracture caused by alternating torsion and tension.

[0021] Beneficial effects: The wiring conversion module divides the dynamic section cable inside the float into length compensation branches, which specifically handle axial tensile deformation caused by the ship's linear displacement around the electric cable reel, and a rotation compensation branch, which specifically handles torsional deformation caused by the ship's angular displacement. This releases the internal friction and wear of the dynamic section's armor layer caused by repeated torsion, making its lifespan depend only on tensile and bending fatigue, significantly reducing the risk of fatigue fracture caused by alternating torsion and tension. Simultaneously, the wiring conversion module makes the cable section wound into the electric cable reel independent of the rotation compensation circuit. This section of cable only bears axial tension and bending on the reel, not torsional torque, avoiding irregular twisting or interlayer compression of the cable on the reel due to torsional preload. This ensures the smoothness of the cable reel's winding and unwinding actions and the accuracy of tension feedback during tension grading adjustment, preventing the stability of length compensation control from being interfered with by torsional stress in the winding section.

[0022] In one alternative embodiment, the power supply end of the cable is further provided with a removable waterproof protective sleeve for sealing the electrical interface of the power supply end when not powered.

[0023] Beneficial effects: The waterproof protective sleeve completely isolates the electrical interface from seawater and salt spray when not powered, preventing electrochemical corrosion and surface oxidation thickening of the connector's metal terminals. This ensures the slip ring responds sensitively to angular displacement during each operation, preventing compound stress accidents caused by mechanical jamming. Simultaneously, the sealing protection effectively prevents moisture from penetrating the insulating dielectric layer of the electrical interface, preventing hydrolytic aging or shortened creepage distance of the insulating material in humid and hot environments, maintaining the original dielectric strength of the insulation layer. Furthermore, the waterproof protective sleeve reduces the rapid aging and elasticity loss of the electrical interface sealing ring in humid and dry environments, ensuring the sealing structure maintains its original mechanical strength and deformation recovery capability after repeated insertions and removals.

[0024] Secondly, the present invention also provides an adaptive mooring power supply method for marine power replenishment, which adopts the adaptive mooring power supply system for marine power replenishment provided in the first aspect, including the following steps: mooring the ship to a buoy so that the ship can turn around the buoy; raising the power supply end of the cable and connecting it to the power receiving interface of the ship; monitoring the displacement state of the ship during the power supply process: when the ship generates linear displacement, the length compensation mechanism performs length compensation, and the slewing compensation mechanism maintains the existing slewing angle; when the ship generates angular displacement, the slewing compensation mechanism performs slewing compensation, and the length compensation mechanism maintains the current deployed length; after the power supply is completed, disconnecting the power supply end from the power receiving interface, returning the power supply end to the buoy, and retrieving the redundant cable.

[0025] Beneficial effects: Throughout the power supply process, a unique compensation actuator is designated based on the ship's displacement type, while another actuator is required to remain unchanged. This eliminates the possibility of simultaneous tensile and torsional compensation actions, ensuring that the cable only bears one type of load—axial tension or pure torsion—within a given time period, thus relieving the working conditions caused by combined stress. When the ship experiences angular displacement, the command length compensation mechanism maintains its current extended length. When the slip ring independently performs torsional compensation, the cable segment in which it is located does not bear additional axial tension or dynamic tensile impact caused by retraction or extension. This prevents the rotating components of the slip ring from being simultaneously subjected to axial pull during rotation, and prevents the internal bearings and conductive channels of the slip ring from experiencing accelerated wear or jamming due to loads in directions other than the design direction. This ensures that the torsional compensation action is always completed under pure torsional conditions. When the ship experiences linear displacement, the command slewing compensation mechanism maintains the existing slewing angle. When the electric cable reel is winding and unwinding the cable for length compensation, the winding section on the cable reel does not bear the torsional torque from the end. This ensures that the interlayer arrangement of the cable on the reel is not affected by torsional deformation, and avoids irregular twisting, squeezing, or knotting of the cable on the reel due to torsional preload. This ensures the smoothness of the length compensation action and the purity of the tension feedback signal, making the tension adjustment more precise and reliable. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the specific embodiments of the present invention, the drawings used in the description of the specific embodiments 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 from these drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of the overall structure of the adaptive moored power transmission marine power supply system provided in an embodiment of the present invention; Figure 2 This is a partially enlarged structural schematic diagram of the adaptive moored power transmission marine power supply system provided in an embodiment of the present invention; Figure 3 for Figure 2 A cross-sectional schematic diagram of AA in the middle; Figure 4 This is a power transmission path diagram of an adaptive moored power transmission marine power supply system provided in an embodiment of the present invention; Figure 5 This is a flowchart illustrating the adaptive moored power transmission method for marine power replenishment provided in an embodiment of the present invention.

[0028] Explanation of reference numerals in the attached figures: 1. Float; 11. Protective pipe; 12. Limiting and locking components; 13. Wiring adapter module; 14. Connecting ring; 21. First cable; 22. Second cable; 23. Buoyancy retainer; 24. Heavy-duty lifting ring; 3. Length compensation mechanism; 31. Two-way servo drive system; 32. Monitoring, analysis and processing system; 4. Turnaround compensation agency; 5. Seabed anchoring components; 6. Flexible mooring chain; 7. Power supply unit; 8. Substation unit; 9. Ship power receiving interface. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0030] According to embodiments of the present invention, on one hand, an adaptive mooring power transmission marine power supply system is provided, such as... Figures 1 to 4As shown, it includes a float 1, a cable, a length compensation mechanism 3, a slewing compensation mechanism 4, and a control unit.

[0031] like Figure 4 As shown, the system transmits power along the floating wind turbine, substation platform, anchoring foundation, buoy 1, and ship path. Power supply unit 7 converts wind energy into electrical energy, which is then regulated by substation unit 8 and transmitted to the mooring power transmission module. The mooring power transmission module has the functions of mooring fixation, power transmission, and dynamic compensation. It can adapt to the six-degree-of-freedom motion caused by wind, waves, and currents during ship anchoring to ensure continuous and reliable power supply.

[0032] Among them, power supply unit 7 includes a wind turbine generator and a converter.

[0033] It should be noted that there are no specific limitations on the wind turbine generator set and its matching converter in power unit 7. They can be in the form of semi-direct drive permanent magnet synchronous wind turbine generator set, doubly fed asynchronous wind turbine generator set, or direct drive synchronous wind turbine generator set.

[0034] Preferably, a semi-direct drive permanent magnet synchronous wind turbine is used.

[0035] Specifically, a wind turbine generator set includes a rotor, nacelle, and tower. The rotor consists of three blades and a hub. A permanent magnet synchronous generator is integrated inside the nacelle. The generator rotor is directly connected to the rotor shaft or driven through a medium-speed gearbox, converting wind energy into alternating current with varying frequency. The converter is installed inside the nacelle or at the bottom of the tower, employing a full-power back-to-back voltage source topology. It includes a turbine-side rectifier, a DC bus, and a grid-side inverter. The turbine-side rectifier converts the frequency-converted AC output from the generator into DC, while the grid-side inverter converts the DC into AC at a stable frequency and voltage level, such as 35kV. The converter also incorporates an LCL filter and a pre-charge circuit to suppress high-frequency harmonics and smooth grid voltage. It is also equipped with an active grid-side air-cooling system to adapt to the high humidity and salt spray environment at sea.

[0036] In one embodiment, such as Figure 1 As shown, the cable includes a first cable 21 and a second cable 22. The first cable 21 connects the power supply unit 7 and the transformer unit 8, and the second cable 22 connects the transformer unit 8 and the mooring power transmission module.

[0037] It should be noted that there is no specific limitation on the cable; it can be a single-core power cable, a multi-core bundled cable, or an armored power cable.

[0038] Preferably, a three-core cross-linked polyethylene insulated armored power cable is used.

[0039] Specifically, the cable comprises, from the inside out, a conductor, an insulation layer, an inner sheath, an armor layer, and an outer sheath, and has sufficient mechanical strength and resistance to seawater corrosion.

[0040] The first cable 21 is laid on or buried below the seabed, connecting the power supply unit 7 and the transformer unit 8, and is in a fixed laying state.

[0041] The second cable 22 connects the substation unit 8 and the moored power transmission module, and its length is divided into a fixed laying section and a dynamic section along the line.

[0042] Furthermore, the fixed laying section extends from the substation unit 8 along the seabed to near the bottom of the buoy 1, and is laid on the seabed surface or buried in the subsoil.

[0043] The dynamic section, namely the dynamic cable section set in the middle of the second cable 22, enters the interior of the buoy 1 from the seabed entrance below the buoy 1. This section is allowed to bend and stretch under the action of wind, waves and currents without structural damage.

[0044] Meanwhile, the upper end of the dynamic section of the second cable 22 is connected to the electric cable reel inside the buoy 1 via a junction box, and the other part is connected to the servo bidirectional drive system as the drive control power supply. The power supply end of the second cable 22, that is, the end that passes through the rigid cable pipe at the top of the buoy 1, is provided with an electrical interface for connecting with the ship's power receiving interface 9.

[0045] It can be noted that a heavy-duty lifting ring 24 is also provided at the end of the second cable 22, which is used to move the cable synchronously after it is grabbed by the crane.

[0046] It can be noted that there are no specific limitations on the main transformer and high-voltage switchgear in substation unit 8. They can be oil-immersed transformers, dry-type transformers, or gas-insulated transformers, etc., and the high-voltage switchgear can be air-insulated switchgear or gas-insulated switchgear.

[0047] Preferably, the main transformer is an oil-immersed three-phase double-winding on-load tap-changing transformer, and the high-voltage switchgear is a gas-insulated switchgear.

[0048] Specifically, substation unit 8 is located on an independent offshore fixed jacket platform or floating semi-submersible platform, with containerized integrated compartments on the platform deck. The main transformer is an oil-immersed structure, with a core made of high-permeability grain-oriented silicon steel sheets and windings made of copper wire. It is equipped with a load tap changer for online voltage regulation. The transformer tank is filled with high-flash-point mineral insulating oil, and the tank exterior is equipped with corrugated heat sinks and a forced oil circulation air-cooling device to ensure that the rated capacity does not decrease within an ambient temperature range of -10℃ to +45℃. The high-voltage switchgear integrates components such as vacuum circuit breakers, disconnect switches, grounding switches, current transformers, voltage transformers, and surge arresters. The switchgear is equipped with a microprocessor-based integrated protection device to provide overcurrent, instantaneous overcurrent, zero-sequence, and differential protection functions. The substation unit 8 receives electrical energy through the first cable 21, steps it down to the second rated voltage level (e.g., 10kV) through the main transformer, and then feeds it out to the second cable 22 through the high-voltage switch cabinet. With this configuration, one substation unit 8 can simultaneously provide power distribution to multiple moored power transmission modules.

[0049] like Figures 1 to 3 As shown, buoy 1 floats on the sea surface, providing a place for ships to moor and allowing it to rotate around. A cable runs through buoy 1 for transmitting power to the ship. A length compensation mechanism 3 is mounted on buoy 1 to extend and retract the cable to compensate for its length. A slewing compensation mechanism 4 is located at the power supply end of the cable, allowing the cable end to rotate relative to buoy 1 to release torsional stress. A control unit is communicatively connected to both the length compensation mechanism 3 and the slewing compensation mechanism 4, configured to: in response to linear displacement of the ship, trigger the length compensation mechanism 3 to perform a length adjustment action and instruct the slewing compensation mechanism 4 to maintain its current state; in response to angular displacement of the ship, trigger the slewing compensation mechanism 4 to perform a torsion release action and instruct the length compensation mechanism 3 to maintain its current length.

[0050] By separating the length compensation function from the torsion compensation function in terms of physical structure and decoupling them in terms of control logic, the control unit explicitly specifies the corresponding compensation mechanism to perform the action according to the type of ship displacement, and instructs the other mechanism to keep the current state unchanged, ensuring that the length compensation mechanism 3 and the slewing compensation mechanism 4 are not in working state at any time, so that the cable only bears a single type of mechanical load in the same time period.

[0051] It should be noted that there is no specific limitation on the float 1; it can be in the form of a cylindrical float, a spherical float, or a box-shaped float.

[0052] Preferably, a closed welded steel structure pontoon 1 is adopted.

[0053] Specifically, the float 1 is a fully welded steel sealed shell with an outer surface coated with an anti-biofouling coating and internal reinforcing ribs and bulkheads to ensure structural strength.

[0054] The buoy 1 has a connecting ring 14 fixedly installed on its upper part for attaching the ship's mooring lines; the lower part of the buoy 1 has multiple chain link ends for connecting to the anchor chain. A vertically extending protective tube 11 is fixedly connected to the top of the buoy 1, penetrating the top plate and extending upwards to a certain height. The inner cavity of the protective tube 11 allows cables to pass through and provides radial restraint and protection for the cables. The buoy 1 floats on the sea surface, and its draft can be adjusted by internal ballast water to ensure stability in wind and waves.

[0055] In one embodiment, a swivel is provided on the upper part of the buoy 1 for attaching mooring lines to the ship, and it is capable of rotating 360°.

[0056] It should be noted that there is no specific limitation on the slewing ring; it can be a sliding bearing type slewing ring, a rolling bearing type slewing ring, or a roller type slewing bearing, etc.

[0057] Preferably, a rolling bearing type swivel ring is used.

[0058] Specifically, the swivel ring consists of a fixed seat, a swivel ring body, and a bearing assembly. The fixed seat is welded to the center of the top of the float 1. The swivel ring body is fitted onto the outside of the fixed seat and rotates relative to the fixed seat through two rows of staggered tapered roller bearings. The bearings are filled with seawater-resistant lithium-based grease and equipped with double-layer V-shaped seals to prevent seawater and sand from entering.

[0059] The rotating ring has a cable lug plate integrally formed or welded on its outer circumference. The lug plate has an elliptical cable through hole, and the inner wall of the through hole has an arc transition surface and a wear-resistant bushing to reduce cable wear.

[0060] In one embodiment, the wiring adapter module 13 includes a junction box disposed inside the float 1 for splitting the second cable 22 into two paths, which are respectively connected to the servo drive system and the winding length compensation mechanism 3.

[0061] It should be noted that there is no specific limitation on the junction box; it can be a dry-sealed junction box, an oil-filled junction box, or an epoxy resin cast junction box, etc.

[0062] Preferably, a dry-sealed junction box is used.

[0063] Specifically, the junction box is a sealed housing made of 316L stainless steel, with a cable inlet and two outlets, each equipped with a conical rubber sealing ring and a compression nut.

[0064] The junction box contains a copper busbar or copper terminal adapter module. One path connects to the bidirectional servo drive system 31 of the electric cable reel via a flexible jumper cable, serving as the drive and control power supply. The other path winds a multi-core soft copper busbar onto the reel of the electric cable reel, serving as the main power transmission circuit. The junction box also houses a humidity sensor and a dehumidifier / heater. When the internal relative humidity exceeds a set threshold, the dehumidifier / heater automatically activates to prevent condensation and creepage. All terminals utilize a double-bolt crimping structure and are fitted with heat-shrinkable insulating sleeves.

[0065] It should be noted that the length compensation mechanism 3 is not specifically limited and can take the form of an electric reel, hydraulic reel, or pneumatic reel.

[0066] Preferably, an electric cable reel is used.

[0067] Specifically, the electric cable reel is fixedly installed inside the float 1, and its reel diameter is more than four times the minimum bending radius of the cable to prevent the cable from being excessively bent during winding.

[0068] The electric cable reel has a built-in bidirectional servo drive system 31, which consists of a servo motor, reducer, brake and encoder, and can realize forward and reverse rotation and precise control of speed and torque.

[0069] Furthermore, the electric cable reel is also equipped with a monitoring and analysis processing system 32, including a tension sensor (installed at the cable outlet), a length encoder (to measure the length of the released cable), and a microprocessor control unit, used to collect cable tension values ​​and release lengths in real time, and output drive commands according to a preset control algorithm. The side of the electric cable reel is provided with a cable guide groove to ensure that the cable is neatly arranged during the winding and unwinding process, avoiding compression and friction damage.

[0070] It should be noted that the rotation compensation mechanism 4 is not specifically limited, and can take the form of an electric slip ring assembly, a conductive rotary joint, or a flexible cable torsion section, etc.

[0071] Preferably, an electric slip ring assembly is used.

[0072] Specifically, the electric slip ring assembly is located at the cable power supply end, at the upper outlet of the float 1 protective tube 11 or near the cable end.

[0073] The slip ring assembly includes a fixed part and a rotating part. The fixed part is connected to the cable body, and the rotating part is connected to the electrical interface of the cable end. The two parts are connected by a conductive ring and a brush to achieve continuous power transmission, while allowing relative 360° free rotation.

[0074] Furthermore, the slip ring assembly incorporates sealed bearings and a dustproof and waterproof structure, with its rated voltage and current matched to the system's power transmission parameters. The slip ring assembly also includes an angle sensor to detect the rotation angle of the rotating parts, allowing the control unit to determine the ship's angular displacement.

[0075] It should be noted that the control unit is not specifically limited and can be a programmable logic controller, an industrial computer, or an embedded digital signal processor.

[0076] Preferably, a DSP-based embedded controller is used.

[0077] Specifically, the control unit is installed in a sealed electrical control box inside the float 1, and is connected to the tension sensor, length encoder, angle sensor, servo driver and slip ring status monitoring module via signal lines.

[0078] The control unit has pre-stored tension threshold parameters, such as the rated operating threshold and the ultimate safety threshold, as well as the control algorithm program. In use, the control unit executes the aforementioned tension grading adjustment strategy and decoupling coordination mechanism based on the real-time input signal, outputting speed or torque commands to the servo driver, and simultaneously outputting lock / release commands to the braking device of the electric slip ring.

[0079] Furthermore, the control unit is also equipped with a wireless communication module, which can interact with the remote control terminal on the ship to enable the crew to remotely monitor the system status.

[0080] It can be explained that the control unit is configured to execute a tension grading adjustment strategy: acquire the real-time tension value of the cable, and preset the rated operating threshold T. work and the ultimate safety threshold T max When the real-time tension value T is less than the rated working threshold T work At that time, the length compensation mechanism 3 is driven in torque closed-loop mode to maintain the cable shape with a holding torque, and when the tension is lower than the lower limit, the cable is wound up at a low speed to restore the tension to the set value T. set When the tension is higher than the set value, release the cable at a slow speed to reduce the tension back to the set value T. set When the real-time tension value T is within the rated working threshold T work With the ultimate safety threshold T max During this period, active follow-up adjustment is performed based on the tension change trend: if the tension continues to rise, the control length compensation mechanism 3 actively releases the cable to match the ship's departing speed v. ship If the tension continues to decrease (indicating the ship is approaching), the length compensation mechanism 3 is controlled at a speed v. motor The cable is wound up to compensate for the displacement ΔL.

[0081] By setting rated working thresholds and ultimate safety thresholds, the winding and unwinding actions of the electric cable reel are strictly limited within the safe tension range, ensuring that the cable is not overstretched during length compensation. This creates stable axial force conditions for the electric slip ring to independently undertake torsional compensation, avoiding interference with the torsional release action due to tension fluctuations, thereby ensuring the reliable execution of the translation and rotation decoupling mechanism.

[0082] The steady-state constant tension maintenance mode maintains the cable's suspension shape by slow cable winding, preventing the cable from slacking or accumulating on the seabed due to insufficient tension. By maintaining appropriate tension in advance, it effectively reduces the risk of the cable slacking or accumulating on the seabed and twisting due to insufficient tension, making the torsional compensation effect of the slip ring smoother.

[0083] When in use, when a ship experiences heave and swaying due to wind and waves, the active follow adjustment can promptly retract and extend the cable according to the trend of tension changes, matching the ship's displacement speed, avoiding sudden increases or decreases in tension, and suppressing the impact of sudden tension changes on the cable insulation layer.

[0084] Furthermore, the control unit also implements a decoupling coordination mechanism.

[0085] Specifically, in response to the linear displacement of the ship, the length compensation mechanism 3 is triggered to perform a length adjustment action, and the rotation compensation mechanism 4 is instructed to maintain the current state, so that the rotational degree of freedom of the cable power supply end is locked, so as to prevent the cable winding section from bearing torsional torque due to accidental rotation of the end during the length compensation process, and to ensure that the length compensation mechanism 3 only needs to resist axial tension when winding and unwinding the cable, and the interlayer arrangement of the cable on the reel is not disturbed by torsional deformation.

[0086] In response to the angular displacement of the ship, the slewing compensation mechanism 4 is triggered to perform a torsional release action, and the length compensation mechanism 3 is instructed to maintain the current length, so that the cable extension length remains constant during slewing. This ensures that when the slewing compensation mechanism 4 performs the torsional release action, the cable segment in which it is located does not bear additional axial tension or dynamic impact caused by the extension and retraction actions, so that the electric slip ring always completes stress release in a pure torsional state, avoiding the superposition effect of tension and torsion that accelerates the wear of the mechanism.

[0087] When in use, when the ship experiences swaying and heave due to wind and waves, the active follow adjustment can promptly retract and extend the cable according to the trend of tension changes, matching the ship's displacement speed and avoiding sudden increases or decreases in tension. The steady-state constant tension maintenance mode maintains the cable's suspension shape with low-speed cable retraction, preventing the cable from slackening or accumulating on the seabed due to insufficient tension, effectively reducing the risk of kinking and making the torsional compensation effect of the electric slip ring smoother.

[0088] In one embodiment, such as Figure 1 and Figure 2As shown, the adaptive mooring power transmission marine power supply system also includes multiple seabed anchoring components 5. The multiple seabed anchoring components 5 are distributed in a ring or circumferential interval around the buoy 1. Each seabed anchoring component 5 is connected to the bottom of the buoy 1 through a flexible mooring chain 6.

[0089] It should be noted that the anchoring component 5 on the seabed is not specifically limited and can take the form of a suction anchor, a gravity caisson, or a pile foundation.

[0090] Preferably, a suction anchor is used.

[0091] Specifically, the top of the anchoring foundation is equipped with a shackle, which is connected to the chain link end of the bottom of the buoy 1 through anchor chains, thereby restricting the planar movement of the buoy 1 within a safe range centered on the center of the anchoring foundation group.

[0092] Multiple seabed anchoring components 5 are arranged in a ring and converge at the bottom of the buoy 1 via a flexible chain. This restricts the planar movement of the buoy 1 to a safe radius centered on the anchoring base group. When the ship experiences pitching or rolling, the drift of the buoy 1 is effectively restrained by the chain system, preventing it from drifting away from the ship indefinitely. This ensures that the length change required to compensate for by the electric cable reel is always within its winding stroke and tension adjustment window, preventing the cable from being stretched to its limit and overloaded due to excessive drift of the buoy 1. This ensures that the length compensation mechanism 3 will not fail due to excessive stroke, thereby eliminating the dangerous working condition of superimposed tensile and torsional stresses.

[0093] Meanwhile, the multi-anchor chain convergence connection has self-resetting stiffness characteristics, which can effectively buffer the instantaneous impact of waves on the buoy 1 body, significantly reduce the roll and pitch amplitude of the buoy 1, and provide a stable platform for the internal cables and compensation mechanism.

[0094] In one embodiment, the number of flexible mooring chains 6 is the same as the number of seabed anchoring components 5, and multiple seabed anchoring components 5 are distributed on the same circumference to constrain the displacement of the buoy 1 in the horizontal direction.

[0095] By confining all seabed anchoring components 5 to the same circumference, the horizontal displacement of the buoy 1 in all directions is strictly limited to the same design radius. This ensures that the maximum horizontal displacement of the ship caused by swaying and rolling is predictable, and the length change required to compensate for the electric cable reel will never exceed its winding stroke and tension adjustment window. This avoids the cable being pulled to its limit due to excessive drift of the buoy 1, and eliminates the superposition of ultimate tensile loads under torsional conditions.

[0096] Furthermore, by ensuring that the number of chain bodies is consistent with the number of anchoring components and that they are distributed in a circular pattern, any horizontal deviation will simultaneously affect multiple anchor chains to work together, causing the buoy 1 to always tend to return to the center of the circle, suppressing the tension mutation caused by asymmetric drift, and providing a stable tension input for decoupling control.

[0097] In one embodiment, such as Figure 3 As shown, a vertically extending protective tube 11 is fixedly connected to the top of the float 1. The cable passes through the protective tube 11. A limit locking member 12 is provided at the upper end of the protective tube 11 to release the end of the cable to the upper end of the protective tube 11.

[0098] The vertical conduit 11 constrains the cable's exit path from inside the buoy 1 to a vertical direction, ensuring that the cable exit point is always near the central axis of the buoy 1. When the ship turns around the buoy 1, the conduit 11 ensures that the cable only twists at this vertical axis and does not generate additional bending stress due to lateral bending.

[0099] In the non-powered state, the limiting locking component 12 can release and fix the cable end to the upper end of the protective tube 11, so that the end moves synchronously with the float 1 as a whole. It will not cause reciprocating torsional swing relative to the clamp due to the slight swaying of the float 1 in the wind and waves. It effectively prevents the cable end from causing internal wear of the slip ring and insulation fatigue due to the repeated accumulation of small torsional loads in the long standby state, and ensures that the torsion compensation mechanism is still in the initial zero position when the next connection is made.

[0100] Furthermore, by fixing the cable end above the water surface through the upper end of the protective tube 11 and the limiting locking component 12, the end is protected from repeated pounding by waves and the impact of seawater buoyancy. This prevents the waterproof protective sleeve and electric slip ring assembly at the end from non-working rotation due to external disturbances, ensuring that the electric slip ring is in the zero position or a known phase before each docking. This facilitates the control unit to accurately determine the angular displacement of the ship's subsequent rotation, thereby precisely executing the translation and rotation decoupling control strategy.

[0101] Among them, the limiting locking component 12 adopts a clamp. During installation, the clamp is fixed to the upper part of the rigid cable duct and is used to clamp the cable end when the ship is not in use.

[0102] It can be explained that the limiting locking component 12 is located above the designed high water level and is used to keep the end of the cable above the water surface in the non-powered state, forming an isolation from the seawater environment.

[0103] The cable end is always kept above the designed high water level, so that the slip ring assembly and the metal contact of the end are completely free from seawater immersion and the alternating wet and dry environment of tides, avoiding sea salt crystallization, electrochemical corrosion and the attachment and growth of marine organisms such as barnacles in the slip ring gaps.

[0104] To ensure that the slip ring can maintain low friction and free rotation without jamming after long periods of standby, and to prevent the torsional stress from being unable to be released during ship rotation due to slip ring corrosion and jamming, thereby avoiding the superposition of torsional torque and cable tensile stress on the same cross section.

[0105] Meanwhile, keeping this section of the structure in a dry atmospheric environment can effectively maintain the original mechanical properties of the cable and connectors near the end, ensuring that when the electric cable reel applies tension during subsequent power supply operations, the cable end will not prematurely break or tear its sheath due to the degradation of material strength while bearing tensile loads and torsional action.

[0106] In one embodiment, such as Figure 2 and Figure 3 As shown, the dynamic section extends from the lower end of the buoy 1 and along the seabed. Multiple buoyancy retainers 23 are spaced apart on the dynamic section to maintain the dynamic section in a predetermined shape in the water.

[0107] It should be noted that the buoyancy retainer 23 is not specifically limited and can take the form of a float, buoyancy block or airbag.

[0108] Preferably, a float is used.

[0109] Specifically, multiple floats are fixed to the outer sheath of the dynamic section cable and are arranged at intervals along the length of the cable.

[0110] Multiple buoyancy retainers 23 enable the dynamic section to form a specific arched or wave-shaped spatial form in the water, such as a catenary. When the buoy 1 experiences vertical or horizontal displacement due to the ship's swaying and heave, this form can absorb part of the displacement through its own bending deformation, rather than transferring all the displacement to the electric cable reel to require length compensation. This effectively reduces the frequency and magnitude of cable length compensation, making the tensile stress change more gradual. This avoids the tensile stress exceeding the limit before the torsional compensation action is completed due to response lag during large-scale compensation.

[0111] Meanwhile, the supporting effect of the buoyancy retainer 23 ensures a smooth transition after the dynamic section passes through the bottom of the pontoon 1, preventing the cable from sag sharply due to its own weight at the outlet and forming a small curvature bend. This ensures that the bending radius of the cable at the bottom of the pontoon 1 is always greater than the safety value, releasing the bending stress concentration point at this critical location. When the pontoon 1 rotates with the ship, this point only bears pure torsional deformation without significant bending stress superposition, thereby reducing the risk of accelerated fatigue cracking caused by the combined effects of bending and torsion on this section.

[0112] In one embodiment, such as Figure 2 and Figure 3 As shown, a wiring adapter module 13 is installed inside the float 1. One end of the wiring adapter module 13 is connected to the dynamic section, and the other end is connected to the length compensation mechanism 3 and the rotation compensation mechanism 4 respectively, so as to realize the physical path separation of tensile and torsional loads.

[0113] The wiring conversion module 13 divides the dynamic section cable into length compensation branches inside the float 1. The length compensation branch around the electric cable reel is specifically responsible for the axial tensile deformation caused by the ship's linear displacement, and the rotation compensation branch is specifically responsible for the torsional deformation caused by the ship's angular displacement. This fundamentally blocks the transmission of composite stress and releases the internal friction and wear of the dynamic section armor layer caused by repeated torsion. This makes its lifespan depend only on tensile and bending fatigue, greatly reducing the risk of fatigue fracture caused by the alternating action of torsion and tension.

[0114] Meanwhile, the wiring adapter module 13 makes the cable segment wound into the electric cable reel independent of the rotation compensation circuit. This cable segment only bears axial tension and bending on the reel, and does not bear torsional torque. This avoids irregular twisting or interlayer compression of the cable on the reel due to torsional preload, thereby ensuring the smoothness of the cable reel's winding and unwinding actions and the accuracy of tension feedback during tension grading adjustment, and preventing the torsional stress in the winding segment from interfering with the stability of length compensation control.

[0115] In one embodiment, the power supply end of the cable is also provided with a removable waterproof protective sleeve for sealing the electrical interface of the power supply end when not powered.

[0116] It can be noted that the waterproof protective sleeve is made of seawater-resistant rubber or engineering plastic, and has an internal sealing ring that fits tightly with the outer wall of the electrical interface.

[0117] The waterproof protective sleeve completely isolates the electrical interface from seawater and salt spray when the power supply is not in use, preventing electrochemical corrosion and surface oxidation thickening of the connector metal terminals, ensuring that the slip ring can respond sensitively to angular displacement during each operation, and avoiding compound stress accidents caused by mechanical jamming.

[0118] At the same time, the sealing protection can effectively prevent moisture from entering the insulating dielectric layer of the electrical interface, prevent the insulating material from hydrolytic aging or shortening the creepage distance in a humid and hot environment, and maintain the original dielectric strength of the insulation layer.

[0119] In addition, the waterproof protective sleeve reduces the rapid aging and loss of elasticity of the electrical interface seals in humid and dry environments, ensuring that the sealing structure can maintain its original mechanical strength and deformation recovery ability after multiple insertions and removals.

[0120] In one embodiment, such as Figures 1 to 4 As shown, it also includes a ship power receiving interface 9, which is arranged on the ship deck.

[0121] The ship's power receiving interface 9 is adapted to the end of the second cable 22 and has locking and releasing functions.

[0122] It should be noted that there are no specific limitations on the ship's power receiving interface 9, which can be in the form of a screw-locking socket, a claw-type quick socket, or a plug-in self-locking socket.

[0123] Preferably, a claw-type quick-locking socket is used.

[0124] Specifically, the ship's power receiving interface 9 includes a fixed socket body, a plug adapter, and a locking mechanism. The fixed socket body is a cylindrical flange seat, made of copper alloy and silver-plated, and is fixed to the cable junction box on the ship's deck with bolts. The socket core is a copper conductive socket with built-in three-phase wires, a neutral wire, and a protective ground wire. The inner wall of the socket is equipped with an arc-shaped spring to increase contact pressure.

[0125] Furthermore, the locking mechanism is an external three-jaw chuck structure, including an operating handle, a transmission gear, and three circumferentially distributed jaws. After the cable plug is inserted into the socket, rotating the operating handle drives the gear to move the jaws radially inward in sync, locking the plug flange tightly against the socket end face. At the same time, the beveled pressure block at the end of the jaws axially presses the plug, ensuring a reliable fit between the conductive pin and the socket. To release, rotating the handle in the opposite direction will loosen the jaws.

[0126] Furthermore, the locking mechanism is also equipped with a positioning detection micro switch. When the pawl is fully locked, it sends a locking signal to the ship's control system, allowing power to be supplied. After unlocking, it automatically cuts off the power supply circuit to achieve safety interlocking.

[0127] According to an embodiment of the present invention, in another aspect, an adaptive moored power transmission marine power replenishment method is also provided, which employs the adaptive moored power transmission marine power replenishment system provided in the first aspect.

[0128] like Figure 5 As shown, the process includes the following steps: mooring the vessel to buoy 1, allowing the vessel to rotate around buoy 1; raising the power supply end of the cable and connecting it to the vessel's power receiving interface; monitoring the vessel's displacement during power supply: when the vessel experiences linear displacement, the length compensation mechanism 3 performs length compensation, while the rotation compensation mechanism 4 maintains the existing rotation angle; when the vessel experiences angular displacement, the rotation compensation mechanism 4 performs rotation compensation, while the length compensation mechanism 3 maintains the current deployed length; after power supply is completed, disconnecting the power supply end from the power receiving interface, returning the power supply end to buoy 1, and retrieving the redundant cable.

[0129] Throughout the power supply process, a unique compensation actuator is designated based on the type of ship displacement, and another actuator is required to remain in its current state to eliminate the possibility of simultaneous occurrence of both tensile and torsional compensation actions. This ensures that the cable only bears one type of load, either axial tension or pure torsion, within the same time period, thus releasing the working conditions caused by combined stress.

[0130] When the ship generates angular displacement, the command length compensation mechanism 3 maintains the current extended length unchanged. When the electric slip ring performs torsional compensation independently, the cable segment where it is located does not bear additional axial tension or dynamic tensile impact caused by the retraction and extension actions. This can prevent the rotating parts of the slip ring from being subjected to axial pull at the same time during rotation, and prevent the internal bearings and conductive rings of the slip ring from being subjected to loads in non-design directions, thus ensuring that the torsional compensation action is always completed in a pure torsional state.

[0131] When the ship experiences linear displacement, the slewing compensation mechanism 4 is instructed to maintain the existing slewing angle. When the electric cable reel is winding and unwinding the cable for length compensation, the winding section on the cable reel does not bear the torsional torque from the end. This ensures that the interlayer arrangement of the cable on the reel is not affected by torsional deformation, and avoids irregular twisting, squeezing, or knotting of the cable on the reel due to torsional preload. This ensures the smoothness of the length compensation action and the purity of the tension feedback signal, making the tension adjustment more accurate and reliable.

[0132] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. An adaptive moored power transmission system for marine power replenishment, characterized in that, include: Floating buoy (1) floats on the sea surface, providing a place for ships to moor and allowing them to turn around the buoy (1); Cables, threaded through the buoy (1), are used to transmit power to the ship; A length compensation mechanism (3) is provided on the float (1) for retracting and extending the cable to compensate for the length of the cable; A slewing compensation mechanism (4) is provided at the power supply end of the cable to allow the end of the cable to rotate relative to the float (1) in order to release the torsional stress of the cable. The control unit, which is communicatively connected to the length compensation mechanism (3) and the slewing compensation mechanism (4), is configured as follows: In response to the linear displacement of the ship, the length compensation mechanism (3) is triggered to perform a length adjustment action, and the slewing compensation mechanism (4) is instructed to maintain the current state; In response to the angular displacement of the vessel, the slewing compensation mechanism (4) is triggered to perform a torsion release action, and the length compensation mechanism (3) is instructed to maintain the current length.

2. The adaptive moored power transmission marine power supply system according to claim 1, characterized in that, The control unit is also configured to execute a tension gradation adjustment strategy: Obtain the real-time tension value of the cable, and preset the rated working threshold and the ultimate safety threshold; When the real-time tension value is less than the rated working threshold, the length compensation mechanism (3) is driven in torque closed-loop mode to output the holding torque to maintain the cable shape, and when the tension is lower than the lower limit, the cable is wound up at a low speed to raise the tension back to the set value; when the tension is higher than the set value, the cable is released at a low speed to lower the tension back to the set value. When the real-time tension value is between the rated working threshold and the ultimate safety threshold, active tracking adjustment is performed based on the tension change trend: If the tension continues to rise, the control length compensation mechanism (3) actively releases the cable to match the ship's moving away speed; If the tension continues to decrease, the control length compensation mechanism (3) winds up the cable to compensate for the displacement.

3. The adaptive moored power transmission marine power supply system according to claim 1, characterized in that, It also includes multiple seabed anchoring components (5), which are arranged in a ring or circumferentially spaced around the buoy (1). Each seabed anchoring component (5) is connected to the bottom of the buoy (1) by a flexible mooring chain (6).

4. The adaptive moored power transmission marine power supply system according to claim 3, characterized in that, The number of the flexible mooring chains (6) is the same as the number of the seabed anchoring components (5), and multiple seabed anchoring components (5) are distributed on the same circumference to constrain the displacement of the buoy (1) in the horizontal direction.

5. The adaptive moored power transmission marine power supply system according to claim 1, characterized in that, The top of the float (1) is fixedly connected to a vertically extending protective tube (11), and the cable passes through the protective tube (11). The upper end of the protective tube (11) is provided with a limit locking member (12) for releasingly fixing the end of the cable to the upper end of the protective tube (11).

6. The adaptive moored power transmission marine power supply system according to claim 5, characterized in that, The limiting locking component (12) is located above the designed high water level and is used to keep the end of the cable above the water surface in the non-powered state, thus forming an isolation from the seawater environment.

7. The adaptive moored power transmission marine power supply system according to claim 1, characterized in that, The cable includes a first cable (21) and a second cable (22). The first cable (21) connects the power supply unit (7) and the transformer unit (8). The second cable (22) connects the transformer unit (8) and the mooring power transmission module. The second cable (22) includes a dynamic section that extends from the lower end of the float (1) and along the seabed. Multiple buoyancy retainers (23) are spaced apart on the dynamic section to maintain a predetermined shape in the water.

8. The adaptive moored power transmission marine power supply system according to claim 7, characterized in that, The float (1) is equipped with a wiring adapter module (13). One end of the wiring adapter module (13) is connected to the dynamic section, and the other end is connected to the length compensation mechanism (3) and the slewing compensation mechanism (4).

9. The adaptive moored power transmission marine power supply system according to claim 1, characterized in that, The power supply end of the cable is also equipped with a removable waterproof protective sleeve to seal the electrical interface of the power supply end when the power supply is not in use.

10. A method for marine power replenishment via adaptive moored power transmission, employing the marine power replenishment system for adaptive moored power transmission as described in any one of claims 1-9, characterized in that, Includes the following steps: The ship is moored to the buoy (1) so that the ship can turn around the buoy (1); Raise the power supply end of the cable and connect it to the ship's power receiving interface; During the power supply process, the displacement status of the ship is monitored: when the ship generates linear displacement, the length compensation mechanism (3) performs length compensation, and the slewing compensation mechanism (4) maintains the existing slewing angle; when the ship generates angular displacement, the slewing compensation mechanism (4) performs slewing compensation, and the length compensation mechanism (3) maintains the current extended length. After the power supply is completed, disconnect the power supply end from the power receiving interface, return the power supply end to the float (1), and retrieve the redundant cable.

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