A multi-directional center of gravity quick adjustment device and method suitable for floating wind turbine foundations

Abstract

The application discloses a multi-direction gravity center quick adjusting device and method suitable for a floating type fan foundation. The floating type fan foundation comprises a plurality of side columns and three transverse connecting beams connected with the side columns. The transverse connecting beams are internally provided with passages. The adjusting device comprises: a plurality of flow force baffles arranged at the lower end regions of the side columns respectively; a female counterweight block fixedly arranged at the intersection region of the three transverse connecting beams; three sub counterweight blocks arranged correspondingly to the three transverse connecting beams; the side walls and the bottom of each passage are respectively provided with a guide rail and a roller track; the sub counterweight blocks are slidably connected with the guide rail and the roller track and are movable along the length direction of the transverse connecting beams; a locking mechanism is arranged for locking the sub counterweight blocks, the locking mechanism comprises a transverse locking tongue arranged on the sub counterweight block and a locking seat for receiving the insertion of the transverse locking tongue, wherein the locking seat is arranged on the female counterweight block, so that the sub counterweight blocks are locked to the female counterweight block in a non-adjusting state.

Description

Technical Field

[0001] This invention relates to the fields of marine engineering, offshore wind power engineering, and stability control of floating wind turbine foundations, specifically to a multi-directional center of gravity rapid adjustment device and method suitable for floating wind turbine foundations. Background Technology

[0002] As offshore wind power development shifts from nearshore fixed foundations to deep-sea floating foundations, floating wind turbine foundations are gradually becoming an important support form for large-capacity offshore wind turbines. During service, floating wind turbine foundations are subjected to multiple loads, including wind, waves, currents, tides, turbine thrust, and mooring constraints. This makes them prone to coupled movements such as heeling, pitching, yaw, swaying, and heave. When the attitude of the floating wind turbine foundation exceeds the permissible range, the inflow conditions of the turbine rotor, the stress state of the tower, the stress state of the transverse connecting beams, the tension of the mooring system, and the attitude of the dynamic cables will all be affected, thereby reducing the operational stability and structural safety of the turbine.

[0003] Existing methods for adjusting the stability of floating foundations mainly include increasing the size of the floating body, setting fixed ballast, setting ballast water tanks, adding damping components, arranging tuned mass dampers, and adopting active ballast control. Fixed ballast can lower the initial center of gravity of the floating wind turbine foundation, but it is difficult to change the current response of the floating wind turbine foundation according to real-time sea conditions; ballast water regulation relies on pumping and piping systems, and the response speed is limited by pumping capacity, and frequent regulation increases energy consumption and maintenance workload; tuned mass dampers usually require dedicated compartments or superstructure space, making system layout and long-term maintenance complex.

[0004] For floating wind turbine foundations, after being subjected to environmental loads, the equivalent center of gravity position often needs to be changed within a short period of time to counteract the overturning moment generated by the external loads. If the center of gravity adjustment is achieved solely by the inflow and outflow of ballast water, there is a tendency for response lag. If a single moving mass is used for adjustment, its adjustment direction and center of gravity correction freedom are limited, making it difficult to simultaneously adapt to lateral tilt, longitudinal tilt, and combined attitude shifts.

[0005] Furthermore, floating foundations typically have access channels within the transverse connecting beams for personnel to enter and inspect the beam structure, welds, pipelines, sensors, connection nodes, drive mechanisms, and locking mechanisms. If the movable counterweight mechanism occupies an additional independent compartment, it increases structural complexity; if the movable counterweight mechanism is located within the maintenance access channel but lacks reliable locking and maintenance interlocks, it may compromise the safety of maintenance personnel entering the channel. Therefore, it is necessary to propose a floating wind turbine foundation stability adjustment device and method that can reuse the connecting beam channels, achieve rapid multi-directional center of gravity adjustment, and reliably lock under maintenance conditions and extreme sea conditions. Summary of the Invention

[0006] The purpose of this invention is to solve the problems of slow response, limited adjustment direction, lack of reliable locking of moving counterweights, and insufficient safety interlocking of maintenance access in existing floating wind turbine foundations. It proposes a multi-directional rapid center of gravity adjustment device and method suitable for floating wind turbine foundations. Through the coordinated operation of an adjustable flow baffle, a fixed main counterweight, multiple sliding sub-counters, side wall guide rails, a lateral locking tongue, and a closed-loop control system, a technical solution is achieved that enables rapid adjustment of the floating wind turbine foundation's center of gravity, assisted attitude adjustment by the reverse torque of the flow load, safe locking during maintenance, and protection against extreme sea conditions.

[0007] The objective of this invention is achieved through the following technical solution:

[0008] A multi-directional center of gravity rapid adjustment device suitable for floating wind turbine foundations, wherein the floating wind turbine foundation includes multiple side columns and three transverse connecting beams connecting the side columns, the transverse connecting beams having internal channels, and the adjustment device comprising:

[0009] Several flow baffles are respectively disposed in the lower end area of ​​each of the side columns, and the flow baffles are configured to be able to adjust their orientation as a whole to utilize the fluid force;

[0010] The mother counterweight is fixedly installed at the intersection of the three transverse connecting beams;

[0011] Three sub-counterweights are respectively set for the three transverse connecting beams. Each channel has a guide rail and a roller track on its side wall and bottom. The sub-counterweights slide with the guide rails and roller tracks and move along the length of the transverse connecting beams.

[0012] A locking mechanism is provided for locking the sub-counterweight. The locking mechanism includes a transverse locking tongue disposed on the sub-counterweight and a locking seat for receiving the insertion of the transverse locking tongue. The locking seat is disposed on the mother counterweight to lock the sub-counterweight to the mother counterweight in a non-adjusted state.

[0013] Furthermore, the adjustment device also includes a latch drive mechanism, which is installed inside the sub-counterweight and is used to drive the lateral latch to extend or retract.

[0014] Furthermore, the sub-counterweight is equipped with a locking mechanism. After the sub-counterweight moves to the target adjustment position, the target position is locked by the locking mechanism.

[0015] The locking mechanism moves along the guide rail with the sub-counterweight; when the sub-counterweight reaches the target adjustment position, the locking mechanism engages with the locking hole or locking groove set on the channel fixing structure through the mechanical locking pin, so that the locking mechanism is fixed in the current position and the sub-counterweight is restricted from continuing to move, thereby realizing the mechanical locking of the target adjustment position.

[0016] Furthermore, the flow baffle is configured to retract and extend vertically along an upward and downward sliding track provided inside the side column.

[0017] Furthermore, the bottom of the channel sub-counterweight is provided with a roller assembly that is slidably connected to the roller track.

[0018] This invention also provides a method for rapid multi-directional center of gravity adjustment suitable for floating wind turbine foundations, comprising:

[0019] Real-time acquisition of attitude monitoring data and environmental monitoring data of floating wind turbine foundations;

[0020] Based on the attitude monitoring data, determine whether the attitude of the floating wind turbine foundation exceeds the set range. If so, calculate the target orientation and center of gravity correction amount of the flow baffle.

[0021] The center of gravity correction amount is decomposed into the target displacement amount of the three sub-counterweights along their respective corresponding transverse connecting beam directions;

[0022] Control the transverse locking tongue to disengage from the locking seat to unlock, and drive the sub-counterweight to move along the guide rail to the position corresponding to the target displacement;

[0023] The locking mechanism locks the sub-counterweight at the target adjustment position. The flow baffle is then adjusted to face the target.

[0024] Compared with the prior art, the beneficial effects of the technical solution of the present invention are:

[0025] 1. This invention configures three sub-counterweights that slide along guide rails within three transverse connecting beams, combined with directional adjustable fluid baffles at the bottom of the columns. The three-dimensional decomposition displacement of the solid sub-counterweights replaces the traditional ballast water pumping, resulting in a physical-mechanical motion speed far exceeding that of fluid pumping. Simultaneously, the fluid baffles generate a reverse fluid torque, forming a dual effect of internal gravity compensation combined with external fluid assistance, effectively solving the problem of lag in response to single adjustment methods under complex sea conditions. This invention can decompose adjustment requirements according to roll, pitch, and combined attitude deviations, improving the degree of freedom and response speed of attitude adjustment.

[0026] 2. This invention sets the guide rails and roller tracks on the channel, and the sub-counterweights are centrally parked at the main counterweight at the intersection when not in operation; the side-wall suspended sliding and bottom roller tracks ensure the stability of the counterweights during movement, and the centralized locking in the parked state also maximizes the space available in the main channel, allowing the maintenance channel and ballast channel to overlap and be reused, without the need to add a separate floating wind turbine foundation compartment for the moving counterweight; it also improves the utilization rate of the internal space of the transverse connecting beam and ensures maintenance access.

[0027] 3. This invention features a female counterweight, a locking seat, a lateral locking tongue, and interlocking control logic (unlocking is prohibited in maintenance mode). In non-adjustment states or when maintenance personnel are present, the lateral locking tongue rigidly engages the female counterweight with the fixed base (female counterweight), achieving purely mechanical locking. This completely eliminates the risk of overturning or personal injury caused by the uncontrolled swaying of the hundred-ton counterweight due to power failure in the control system or hydraulic / motor malfunction; significantly enhancing the safety of floating wind turbine foundations in extreme sea conditions and during maintenance operations.

[0028] 4. This invention achieves rapid adjustment of the center of gravity by mechanically sliding a solid sub-counterweight along the guide rail, without relying on the ballast water inlet and outlet process. The response speed is higher than that of traditional ballast water adjustment methods, making it suitable for rapid stability recovery of floating wind turbine foundations after sudden changes in attitude.

[0029] 5. This invention incorporates rapid adjustment of counterweights into the whole-process stability monitoring and multi-stage adjustment method of floating wind turbines. It can be used as a secondary rapid adjustment method when the ballast water adjustment capacity is insufficient or fails, or as a direct rapid center of gravity adjustment method when the attitude exceeds the limit, thereby improving the adaptability of floating wind turbine foundations in complex sea conditions. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0031] Figure 2 This is an exploded view of the mother and daughter counterweights from a top-down perspective.

[0032] Figure 3 It is an exploded view of the mother counterweight and the daughter counterweight from a three-dimensional perspective.

[0033] Figure 4 This is an enlarged structural diagram of one of the transverse connecting beams and the main counterweight.

[0034] Figure 5 This is a schematic diagram of the cross-section of the counterweight sliding channel.

[0035] Figure 6 This is a schematic diagram of the specific process of the rapid adjustment method of the center of gravity in a specific implementation. Detailed Implementation

[0036] The preferred embodiments of the present invention will now be described with reference to the accompanying drawings. These embodiments are used to explain the structure and method of the present invention and are not intended to limit the scope of protection of the present invention. Without departing from the technical concept of the present invention, those skilled in the art can make equivalent substitutions or combinations regarding the number of components, arrangement direction, driving form, locking form, and control threshold.

[0037] Example 1

[0038] like Figures 1 to 5 As shown, this embodiment provides a multi-directional center of gravity rapid adjustment device suitable for floating wind turbine foundations. The floating wind turbine foundation includes multiple side columns and three transverse connecting beams 2 connecting the side columns. The transverse connecting beams 2 have a channel 10 inside. The adjustment device includes a flow baffle 1, a female counterweight 4, a female counterweight 3, a locking seat 5, a transverse locking tongue 6, a guide rail 7, a locking tongue drive mechanism 8, a guide slide 9, a locking mechanism 11, a roller assembly 12, and a roller track 13.

[0039] Multiple flow baffles 1 are respectively installed at the bottom or lower end of each side column. The flow baffles 1 can adjust their orientation according to the direction of the flow load and the overall attitude of the floating wind turbine foundation to change the flow state of the lower end of the side column and use the fluid force to form a reverse torque or auxiliary restoring force to balance the attitude of the floating body. The side columns, as the main structure of the foundation, are used to provide buoyancy and support the upper wind turbine structure. In this embodiment, adjacent side columns are connected by three transverse connecting beams 2, and a channel is formed inside the transverse connecting beams 2.

[0040] The mother counterweight 4 is fixedly installed in the intersection or adjacent area of ​​the three transverse connecting beams 2. The mother counterweight 4 is fixed relative to the floating wind turbine foundation and does not participate in sliding. It serves as the locking base for the fixed counterweight and the sub-counterweight 3.

[0041] Three sub-counterweights 3 are respectively positioned corresponding to three transverse connecting beams 2, and can be moved to a fixed parking position close to the main counterweight 4 in non-adjustment or maintenance states. Each transverse connecting beam 2 has guide rails 7 and roller tracks 13 on the side walls and bottom of its internal passageway. The sub-counterweights 3 slide with the guide rails 7 and can reciprocate along the length of the transverse connecting beam 2, achieving multi-directional center of gravity adjustment without occupying the main passageway space. The side walls and bottom provide directional assistance and support, making the movement of the sub-counterweights 3 more stable. In this embodiment, the roller assembly is connected to a drive motor. The drive motor drives the rollers to rotate forward or backward, thereby driving the sub-counterweights 3 to reciprocate along the roller tracks 13 and guide rails 7.

[0042] The transverse locking tongue 6 and the locking seat 5 together constitute a locking mechanism for locking the sub-counterweight 3. The transverse locking tongue 6 is located in the sub-counterweight 3 and can extend out of the sub-counterweight 3 under the action of the locking tongue drive mechanism 8, inserting or extending into the locking seat 5 on the mother counterweight 4 to achieve mechanical locking between the sub-counterweight 3 and the mother counterweight 4.

[0043] The locking tongue drive mechanism 8 is installed inside the sub-counterweight 3 and is used to drive the transverse locking tongue 6 to extend or retract, thereby locking and unlocking the sub-counterweight 3.

[0044] The locking seat 5 is installed on the female counterweight 4 to lock the female counterweight 3 onto the female counterweight 4 in the non-adjusted state.

[0045] The guide groove 9 is located at one end of the sub-counterweight 3 near the mother counterweight 4 and corresponds to the extension and retraction direction of the transverse locking tongue 6. It is used to guide and limit the extension and retraction of the transverse locking tongue 6 so that the transverse locking tongue 6 can be accurately inserted into the corresponding locking seat 5 on the mother counterweight 4.

[0046] A channel 10 is provided along the transverse connecting beam 2 inside the channel. The channel 10 is provided with multiple preset locking positions. When the sub-counterweight 3 moves to the target adjustment position, the locking mechanism 11 cooperates with the corresponding preset locking position to achieve mechanical locking of the sub-counterweight 3.

[0047] When the floating wind turbine foundation is subjected to environmental loads such as wind, waves, and currents, and experiences lateral, longitudinal, or combined attitude shifts, the attitude monitoring device acquires the lateral angle, longitudinal angle, angular velocity, acceleration, and motion state of the floating wind turbine foundation in real time, while the environmental monitoring device acquires flow velocity, flow direction, wind speed, wind direction, and wave parameters. Based on the attitude and environmental monitoring data, the control system calculates the current center of gravity position and the target orientation of the flow baffle 1 that need adjustment, and decomposes the required planar center of gravity correction into the displacement of the three sub-counterweights 3 along the three transverse connecting beams 2.

[0048] The control system first controls the locking tongue drive mechanism 8 to disengage the transverse locking tongue 6 from the locking seat 5, and then drives the sub-counterweight 3 to move rapidly along the guide rail 7 to the target position. After the sub-counterweight 3 reaches the target position, the locking tongue drive mechanism 8 again drives the transverse locking tongue 6 to extend into the locking seat 5 for locking. The control system determines whether the floating wind turbine foundation has returned to the allowable range based on position feedback, locking feedback, and attitude feedback; if it has not returned to the allowable range, it continues with the next displacement correction.

[0049] This embodiment utilizes the flow force to generate attitude correction torque by adjusting the direction of the flow baffle 1, and changes the center of gravity position of the floating wind turbine foundation in the plane by mechanically sliding the solid sub-counterweight 3. Compared with the ballast water regulation method that relies on pumping inlet and outlet water, this embodiment has a faster response capability and is suitable for rapid stability recovery of the floating wind turbine foundation after a sudden change in attitude.

[0050] For example, the sub-counterweight 3 can be set as a 2m×3m×3m metal block or concrete block. The total weight of multiple sub-counterweights 3 is equivalent to the weight of ballast water lost due to the installation of channel 10. The weight of the sub-counterweight 3 can be used to compensate for the reduction in ballast water weight due to the installation of channel 10 and track structures. Thus, the sub-counterweight 3 can both compensate for the ballast water weight loss caused by the channel installation and can move along the corresponding transverse connecting beam 2 under the command of the control system, forming an adjustable center of gravity correction. The above dimensions are only an example of engineering scale. The material, mass, quantity, and movement stroke of the sub-counterweight 3 can be determined according to the drainage volume of the floating wind turbine foundation, structural dimensions, maintenance channel dimensions, and target attitude correction.

[0051] Example 2

[0052] This embodiment, based on embodiment 1, further defines the locking method under maintenance conditions and extreme sea conditions.

[0053] When the floating wind turbine foundation is in an unadjustable state or when personnel need to enter the internal passage of the transverse connecting beam 2, the control system controls the three sub-counterweights 3 to move to a fixed stopping position close to the mother counterweight 4, and controls the flow baffle 1 to remain in a preset safe orientation or retract along the inner track of the side column. After the sub-counterweights 3 reach the fixed stopping position, the transverse locking tongue 6 extends from the sub-counterweights 3 and inserts into the locking seat 5 on the mother counterweight 4, so that the three sub-counterweights 3 are locked together near the mother counterweight 4.

[0054] Before maintenance personnel enter the passage, the control system enters maintenance mode. In maintenance mode, the control system prohibits the sub-counterweight 3 drive mechanism from operating, prohibits the locking tongue drive mechanism 8 from performing unlocking actions, and confirms that the transverse locking tongue 6 is in the locked state through the locking status detection signal. Because the guide rail 7 is set on the side wall of the passage, and the sub-counterweights 3 are concentrated near the main counterweight 4, the main passage space of the passage can be preserved.

[0055] When the floating wind turbine foundation is in extreme sea conditions, under shutdown protection, or experiencing a continuous increase in attitude response, the control system calculates the most favorable stability position based on the floating wind turbine foundation's attitude, overturning moment direction, flow load direction, environmental load, and motion trend. The flow baffle 1 is adjusted to a target orientation that favors generating reverse flow force or reverse moment; after the three sub-counterweights 3 move along the three transverse connecting beams 2 to their corresponding most favorable stability positions, they are locked to the locking seat 5 via the transverse locking tongue 6. Locking prevents the sub-counterweights 3 from uncontrollably swaying under extreme sea conditions.

[0056] If the control system detects an abnormality in position feedback, locking feedback, drive, or communication, it will stop the movement of the sub-counterweight 3 and maintain its current position or move to the nearest lockable position. Once the transverse locking tongue 6 has completed locking, the control system will issue a status prompt. If locking cannot be completed, the control system will alarm and prohibit further adjustment.

[0057] Example 3

[0058] Based on the same inventive concept, this application also provides a method for rapid adjustment of the center of gravity in multiple directions for floating wind turbine foundations, based on the aforementioned rapid adjustment device; specifically, it includes the following:

[0059] The attitude monitoring device acquires real-time attitude monitoring data and environmental monitoring data of the floating wind turbine foundation; the attitude monitoring data includes the tilt angle, pitch angle, angular velocity, acceleration and motion state of the floating wind turbine foundation.

[0060] The control system determines whether the attitude of the floating wind turbine foundation exceeds the set range based on the attitude monitoring data. If so, the control system calculates the target orientation of the flow baffle 1 and calculates the required center of gravity correction direction and correction amount.

[0061] The center of gravity correction is decomposed into the target displacement of three sub-counterweights 3 along their respective transverse connecting beams 2;

[0062] To determine the target displacements of the three sub-counterweights 3, let the total mass of the floating wind turbine foundation be M, the masses of the three sub-counterweights be m1, m2, and m3, respectively, and their respective target displacements be s1, s2, and s3. The unit vectors corresponding to the three directions of movement are e1, e2, and e3, respectively, and the required corrections for the roll and pitch angles are as follows: and The equivalent restoring stiffness in the corresponding directions are respectively and The required roll and pitch correction torques are as follows: Furthermore, the target center of gravity correction amount is obtained: Then, the target center of gravity correction is decomposed into the target displacement of each sub-counterweight: In the formula, The required target center of gravity correction amount based on this.

[0063] Control the horizontal locking tongue 6 to exit and unlock from the locking seat 5, and drive the sub-counterweight 3 to move along the guide rail 7 and the roller track 13 to the position corresponding to the target displacement.

[0064] The horizontal locking tongue 6 is inserted into the corresponding locking seat 5 to complete the locking, and the flow baffle 1 is adjusted to the target orientation. The attitude of the floating wind turbine foundation is checked through feedback data.

[0065] Preferably, as shown in the appendix Figure 6 As shown.

[0066] First, a full-process stability performance monitoring method for floating wind turbines is implemented, and the condition of the floating wind turbine foundation is used to determine whether nacelle damage has occurred. If the floating wind turbine foundation is intact, the control system enters the stability calibration process. The stability calibration process includes setting the calibration duration, setting the error rate, inputting environmental monitoring data, setting the automatic adjustment upper limit, calling the pitch database, yaw database, and variable speed database, and optimizing the power generation.

[0067] In the undamaged state, the control system determines whether the floating wind turbine foundation meets the area ratio requirement. If the area ratio requirement is met, it further determines whether the floating wind turbine foundation is in place and performs nacelle acceleration verification. If the nacelle acceleration meets the maximum design acceleration of the wind turbine manufacturer, it maintains the current state or enters the power generation optimization process. If the nacelle acceleration does not meet the maximum design acceleration, it enters the overall motion response adjustment process.

[0068] If the floating wind turbine foundation does not meet the area ratio requirements or is in a floating state, the control system transmits adjustment data and optimizes the calibration path. The optimized calibration path can be determined based on environmental monitoring data, floating wind turbine foundation attitude data, nacelle acceleration data, and historical adjustment results to improve the stability and efficiency of subsequent adjustments.

[0069] When the control system determines that the floating wind turbine foundation has been damaged, it further determines whether the compartment has lost its adjustment capability. If the compartment still has adjustment capability, it first performs overall motion response adjustment, using ballast water adjustment in the liquid tank as the primary adjustment; when the primary adjustment fails or the adjustment capability is insufficient, it enters the secondary adjustment, i.e., slider adjustment or counterweight adjustment; when the secondary adjustment is still insufficient, it enters the tertiary adjustment, where the direction is adjusted by the flow baffle 1 and the reverse torque is provided by the flow force. The counterweight adjustment corresponds to the adjustment method of the three sub-counterweights 3 of this invention rapidly sliding along the three transverse connecting beams 2.

[0070] When the compartment loses its adjustment capability, or when neither primary nor secondary adjustment can restore the floating wind turbine foundation to the permissible state, the control system issues an alarm. Through the aforementioned multi-stage adjustment method, this invention combines ballast water adjustment in the liquid tank with sliding counterweight adjustment. Sliding counterweight adjustment can serve as a rapid supplementary adjustment method after insufficient or failed ballast water adjustment capability in the liquid tank, and also as a rapid center of gravity adjustment method when the floating wind turbine foundation undergoes a sudden change in attitude.

[0071] Example 4

[0072] Based on Example 1, this embodiment further defines the direction adjustment and flow balance method of the flow baffle 1.

[0073] The flow baffle 1 can be configured as a plate-shaped, arc-shaped, wing-shaped, or plate-shaped structure with reinforcing ribs, and is installed at the bottom or lower end of the side column. The flow baffle 1 can rotate as a whole around its own vertical axis or the vertical axis of the lower end of the side column, so that its angle of attack changes with the direction of the flow load and the attitude adjustment requirements of the floating wind turbine foundation. The flow baffle 1 is a vertically retractable baffle, and an upward and downward sliding track is set inside the side column, which can be retracted into the side column during floating.

[0074] The control system calculates the target orientation of the flow baffle 1 based on the flow velocity, flow direction, tilt angle, pitch angle, angular velocity, acceleration, and motion trend of the floating wind turbine foundation. After the flow baffle 1 changes direction, the water flow acts on the flow baffle 1 to generate a fluid force. This fluid force forms a reverse torque relative to the center of gravity of the floating wind turbine foundation to counteract the overturning tendency, thereby helping to balance the attitude of the floating body.

[0075] The flow baffle 1 and the sub-counterweight 3 can be adjusted synchronously or in stages. The control system can first correct the center of gravity in the plane by rapidly moving the three sub-counterweights 3 along the three transverse connecting beams 2, and then adjust the flow direction through the flow baffle 1 to provide a reverse torque; it can also simultaneously perform the directional adjustment of the flow baffle 1 and the sliding adjustment of the sub-counterweight 3 when the flow load is significant.

[0076] When the floating wind turbine foundation primarily tilts laterally, the control system drives one or two sub-counterweights 3 related to the tilt direction to move along the corresponding transverse connecting beam 2, thereby generating a center of gravity correction amount opposite to the tilt direction. When the floating wind turbine foundation primarily tilts longitudinally, the control system drives the sub-counterweights 3 to move in the corresponding longitudinal component direction. When the floating wind turbine foundation experiences a combined tilt of lateral and longitudinal tilt, the control system decomposes the center of gravity correction amount into three sub-counterweights 3, which move synchronously or stepwise according to the calculated proportion.

[0077] The combined displacement of the three sub-counterweights 3 can create equivalent center of gravity adjustments in multiple directions within the plane. The displacement of each sub-counterweight 3 can be determined based on the inclination angle, angular velocity, acceleration, direction of external load, motion trend, and allowable adjustment limit of the floating wind turbine foundation.

[0078] The driving method of the sub-counterweight 3 is not limited; it can be an electric push rod, hydraulic cylinder, lead screw mechanism, gear and rack mechanism, winch traction mechanism, or other mechanism capable of driving the sub-counterweight 3 to move along the guide rail 7. The form of the guide rail 7 is not limited; it can be a linear guide rail, roller guide rail, T-shaped guide rail, dovetail guide rail, or composite slide rail. The steering driving method of the flow baffle 1 is not limited; it can be an electric rotary mechanism, hydraulic rotary mechanism, gear transmission mechanism, slewing bearing mechanism, or other mechanism capable of achieving overall steering. The flow baffle 1 is installed at the bottom of the side column and connected to the drive motor inside the side column via a rotating shaft. A waterproof sealing structure is provided at the location where the rotating shaft passes through the side column, and the drive motor is located inside the side column to prevent the motor from being directly immersed in seawater. When the motor rotates, it drives the flow baffle to rotate via the rotating shaft, thereby adjusting the angle of the baffle.

[0079] When needed, the flow baffle rotates outward to the required angle; when not in use, the motor drives the baffle to rotate back, retracting it close to the bottom of the side column, thereby reducing the impact on the normal operation of the foundation.

[0080] This invention is not limited to the embodiments described above. The above description of specific embodiments is intended to illustrate and explain the technical solutions of this invention. The specific embodiments described above are merely illustrative and not restrictive. Without departing from the spirit and scope of the claims, those skilled in the art can make many specific modifications based on the teachings of this invention, and these modifications all fall within the scope of protection of this invention.

Claims

1. A multi-directional center of gravity rapid adjustment device suitable for floating wind turbine foundations, characterized in that, The floating wind turbine foundation includes multiple side columns and three transverse connecting beams (2) connecting the side columns. The transverse connecting beams (2) have internal channels (10). The adjustment device includes: Several flow baffles (1) are respectively set in the lower end area of ​​each of the side columns. The flow baffles (1) are configured to be able to adjust their orientation as a whole to utilize the fluid force. The mother counterweight (4) is fixedly installed in the intersection area of ​​the three transverse connecting beams (2); Three sub-counterweights (3) are respectively set for the three transverse connecting beams (2). Each channel (10) has a guide rail (7) and a roller track (13) on its side wall and bottom respectively. The sub-counterweights (3) slide with the guide rail (7) and the roller track (13) and move along the length direction of the transverse connecting beam (2). A locking mechanism is used to lock the sub-counterweight (3). The locking mechanism includes a transverse locking tongue (6) disposed on the sub-counterweight (3) and a locking seat (5) for receiving the insertion of the transverse locking tongue (6). The locking seat (5) is disposed on the mother counterweight (4) to lock the sub-counterweight (3) to the mother counterweight (4) in a non-adjusted state.

2. The multi-directional center of gravity rapid adjustment device according to claim 1, characterized in that, The adjustment device also includes a latch drive mechanism (8), which is installed inside the sub-counterweight (3) and is used to drive the transverse latch (6) to extend or retract.

3. The multi-directional center of gravity rapid adjustment device according to claim 1, characterized in that, The sub-counterweight (3) is provided with a locking mechanism (11). After the sub-counterweight (3) moves to the target adjustment position, the target position is locked by the locking mechanism (11). The locking mechanism (11) moves along the guide rail (7) with the sub-counterweight (3); when the sub-counterweight (3) reaches the target adjustment position, the locking mechanism (11) cooperates with the locking hole or locking groove set on the fixed structure of the channel (10) through the mechanical locking pin, so that the locking mechanism (11) is fixed in the current position and the sub-counterweight (3) is restricted from continuing to move, thereby realizing the mechanical locking of the target adjustment position.

4. The multi-directional center of gravity rapid adjustment device according to claim 1, characterized in that, The flow baffle (1) is configured to retract and extend along the sliding track inside the side column.

5. The multi-directional center of gravity rapid adjustment device according to claim 1, characterized in that, The bottom of the sub-counterweight (3) is provided with a roller assembly (12) that is slidably connected to the roller track (13).

6. A method for rapid multi-directional center of gravity adjustment suitable for floating wind turbine foundations, based on the rapid multi-directional center of gravity adjustment device according to any one of claims 1-5, characterized in that, include: Real-time acquisition of attitude monitoring data and environmental monitoring data of floating wind turbine foundations; Based on the attitude monitoring data, determine whether the attitude of the floating wind turbine foundation exceeds the set range. If so, calculate the target orientation and center of gravity correction of the flow baffle (1). The center of gravity correction amount is decomposed into the target displacement amount of the three sub-counterweights (3) along their respective corresponding transverse connecting beams (2); Control the transverse locking tongue (6) to disengage from the locking seat (5) to unlock, and drive the sub-counterweight (3) to move along the guide rail (7) to the position corresponding to the target displacement; The control locking mechanism (11) locks the sub-counterweight (3) at the target adjustment position; and adjusts the flow baffle (1) to the target orientation.

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