Active ballast control system for offshore floating wind platform

Abstract

The application discloses an active ballast control system of a marine floating wind power platform, relates to the technical field of the marine floating wind power platform, and the measuring system in the active ballast control system comprises an attitude sensor installed on the marine floating wind power platform and liquid level sensors arranged in each ballast water tank in the marine floating wind power platform, a control cabinet is internally integrated with a control core, an internal ring network switch, an external interaction switch, a communication interface and a power supply module, and is externally connected with the measuring system and a ballast water control execution mechanism in the marine floating wind power platform; the multiple modules in the control cabinet cooperatively complete data acquisition, filtering, algorithm calculation and instruction issuing processes, so that the attitude of the marine floating wind power platform is adjusted in real time, the grid-connected power generation efficiency of the wind power platform is greatly improved, and the operation and maintenance safety of the marine floating wind power platform is ensured.

Description

Technical Field

[0001] This application relates to the field of offshore floating wind power platform technology, and in particular to an active load control system for an offshore floating wind power platform. Background Technology

[0002] With the deepening of global energy structure transformation and the dual-carbon strategy, offshore wind power is accelerating its expansion from nearshore shallow waters to deep seas. Deep-sea areas possess abundant and stable wind energy resources with enormous development potential, making them a crucial strategic direction for my country's construction of a new energy system. However, in deep-water scenarios, the application of traditional fixed pile foundations presents significant challenges. Floating wind power platforms, with their unique advantages of not being limited by water depth and being deployable in deep seas, have become a core focus of global wind power technology research and engineering applications.

[0003] In the extreme and dynamic marine environment of deep sea, the stability and control of floating wind turbine foundations are core technological challenges to ensure the safe and efficient operation of wind turbine units. Unlike fixed onshore or near-shore wind turbines, floating platforms undergo continuous six-degree-of-freedom motion under the coupled effects of wind, waves, and currents. Excessive tilting and swaying not only reduce power generation efficiency but also endanger the structural safety of the entire unit.

[0004] Currently, stability control technologies for floating wind power platforms mainly focus on static ballast and coarse-grained dynamic ballast adjustment. For example, the invention patent CN121799571A, entitled "A Three-Column Semi-Submersible Floating Wind Turbine Foundation and Floating Wind Power Generation System," describes a three-column semi-submersible floating wind turbine foundation comprising a main structure and piston-type adjustable ballast tanks. These ballast tanks are connected to external seawater via drainage holes, and ballast is adjusted by a hydraulically driven piston. This approach emphasizes static draft coarse adjustment and lacks an active disturbance rejection mechanism based on real-time sea conditions. The invention patent CN115924016A, entitled "A Semi-Active Ballast System for Floating Wind Power Platforms," ​​uses damping baffles between adjacent ballast tanks in each column for passive roll reduction. While this can suppress high-frequency swaying to some extent, it fails to establish a coordinated scheduling strategy among multiple ballast tanks and lacks dynamic compensation functionality for real-time platform attitude deviations. In summary, most existing stability control technologies remain at the level of passive load adjustment, single load adjustment, and coarse adjustment of platform attitude, which are difficult to cope with complex and ever-changing dynamic loads. Summary of the Invention

[0005] This application addresses the aforementioned problems and technical requirements by proposing an active load regulation control system for offshore floating wind power platforms. The technical solution of this application is as follows: An active load control system for an offshore floating wind power platform, the offshore floating wind power platform includes multiple ballast water tanks, the inlet and outlet branches of each ballast water tank are connected through a common main pipe and driven by several ballast water pumps in parallel, and load control valves are respectively installed on the inlet and outlet branches of each ballast water tank; the active load control system includes a control cabinet and a measurement system. The control cabinet integrates a control core, an internal ring network switch, an external interactive switch, a communication interface, and a power supply module. The power supply module supplies power to the various electrical devices in the control cabinet. The control core is connected to the communication interface through the internal ring network switch. The communication interface of the control cabinet is connected to the measurement system and the ballast water control actuator in the offshore floating wind power platform through the external interactive switch. The ballast water control actuator includes various ballast water pumps and various load adjustment valves. The measurement system includes attitude sensors installed on the offshore floating wind power platform and level sensors arranged in each ballast tank of the offshore floating wind power platform. The measurement system is used to measure the real-time status data of the offshore floating wind power platform and transmit it to the communication interface through an external interactive switch, and then transmit it to the control core through an internal ring network switch. The real-time status data includes the platform attitude data of the offshore floating wind power platform and the level data of each ballast tank. The control core preprocesses the real-time status data of the offshore floating wind power platform through the data interaction module, and determines the expected load water volume of each ballast water tank based on the real-time status data and the torque balance as the control objective through the command calculation module under the constraint of the total amount of ballast water in all ballast water tanks. It also generates the execution control commands for each ballast water control actuator according to the expected load water volume of each ballast water tank. The control core transmits the execution control commands of each ballast water control actuator to the communication interface through the data interaction module via the internal ring network switch, and then sends them to each ballast water control actuator through the external interaction switch for ballast water allocation.

[0006] A further technical solution is that the communication interface also connects the data acquisition and monitoring system of the offshore floating wind power platform and the shore-based system through an external interactive switch; The communication interface is also used to obtain auxiliary information from the data acquisition and monitoring system of the offshore floating wind power platform and the shore-based system through an external interactive switch, and transmit it to the control core through an internal ring network switch; the auxiliary information includes real-time wind, wave and current data of the environment in which the offshore floating wind power platform is located and the mooring tension experienced by the offshore floating wind power platform. The control core preprocesses auxiliary information through the data interaction module, and determines the expected load water volume of each ballast water tank by using the instruction calculation module under the constraint of conservation of total ballast water volume in all ballast water tanks, based on real-time status data and auxiliary information, with torque balance as the control objective.

[0007] The further technical solution involves the instruction calculation module determining the expected load water volume for each ballast tank, including: The command calculation module calculates the wind, wave and current forces acting on the offshore floating wind turbine platform based on real-time wind, wave and current data, determines the external forces acting on the offshore floating wind turbine platform in combination with mooring tension, and calculates the overturning moment generated by external disturbances in combination with the structural stiffness and draft of the offshore floating wind turbine platform. The mechanical equilibrium condition is to use the additional restoring moment generated by ballast water allocation to offset the overturning moment. Under the constraint of the conservation of the total amount of ballast water in all ballast water tanks, the expected amount of ballast water allocated to each ballast water tank is determined.

[0008] The further technical solution is to generate execution control commands for each ballast water control actuator based on the expected load transfer volume of each ballast water tank, combined with the pipeline topology, according to the following load transfer strategy: Open the ballast water valves on the inlet and outlet branches of the two ballast water tanks with the largest expected ballast water volume and start the ballast water pump. When a single ballast water tank reaches its expected ballast water volume, close the ballast water valve on the corresponding inlet and outlet branch. While keeping the ballast water pump running continuously, open the ballast water valves on the inlet and outlet branches of the next ballast water tank in descending order of expected ballast water volume, until all ballast water tanks reach their respective expected ballast water volumes.

[0009] A further technical solution is that the real-time status data received by the command calculation module in the control core after data preprocessing includes at least the average tilt angle of the platform after applying a moving average filter to the platform tilt angle data of the offshore floating wind power platform. And the average liquid level after applying a moving average filter to the liquid level data of each ballast water tank; The instruction calculation module in the control core detects the average tilt angle of the platform. Meanwhile, the real-time status data of the offshore floating wind power platform continues to be monitored; the command calculation module detects the average tilt angle of the platform. Under the constraint of conserving the total amount of ballast water in all ballast tanks, the expected load water volume of each ballast tank is determined based on real-time status data and auxiliary information, with torque balance as the control objective. Furthermore, execution control commands for each ballast water control actuator are generated according to the expected load water volume of each ballast tank. It is the tilt angle threshold for load adjustment and start-up.

[0010] A further technical solution is that the instruction calculation module detects the average tilt angle of the platform. Under the constraint of conservation of total ballast water in all ballast tanks, the expected ballast water volume of each ballast tank is determined by solving the problem based on real-time status data and auxiliary information, with torque balance as the control objective. Based on the platform's average tilt angle The system determines whether ballast water tanks have the capacity to adjust their load based on the expected load volume of each ballast water tank. If the capacity is confirmed, the system generates execution control commands for each ballast water control actuator based on the expected load volume of each ballast water tank. If the capacity is not confirmed, the system re-determines the expected load volume of each ballast water tank with the goal of reaching its initial liquid level, and generates execution control commands for each ballast water control actuator based on the expected load volume of each ballast water tank.

[0011] A further technical solution is that the instruction calculation module calculates the average tilt angle of the platform. Determining whether current ballast water tanks have the capacity for ballast water adjustment based on the expected ballast water volume includes: The instruction calculation module determines the average tilt angle of the platform. It was determined at that time that there was no capacity for load adjustment. It is the maximum tilt angle; The instruction calculation module determines the average tilt angle of the platform. Under the constraint of conserving the total amount of ballast water in all ballast tanks, the expected loading water volume of each ballast tank is determined by solving the problem based on real-time state data with torque balance as the control objective. The expected liquid level height when ballast water is allocated according to the expected loading water volume of each ballast tank based on the average liquid level is also determined. When the expected liquid level height of all ballast tanks does not exceed the liquid level limit, it is determined that the current loading capacity is available. When the expected liquid level height of any ballast tank exceeds the liquid level limit, it is determined that the current loading capacity is not available.

[0012] The further technical solution is that each attitude sensor in the measurement system includes a main sensor and a redundant sensor, and multiple liquid level sensors are installed in each ballast water tank using a combination of side mounting and top mounting. The control core inside the control cabinet includes a main controller and a redundant controller. The control cabinet also contains a serial port server, which transmits the real-time status data of the offshore floating wind power platform to the main controller and the redundant controller via an internal ring network switch. The power supply module includes a battery pack and a UPS uninterruptible power supply. The control cabinet also contains a circuit protection module.

[0013] The further technical solution is that when the main sensor of a single attitude sensor in the active load control system fails, it automatically switches to a redundant sensor; when the battery pack power supply is abnormal, it automatically switches to a UPS uninterruptible power supply; when an overload or short circuit is detected, the control circuit protection module is activated; when a communication interruption is detected, an alarm signal is output and the operating parameters are saved, and the communication is automatically resumed after it is restored.

[0014] A further technical solution is that the control cabinet also integrates a human-machine interaction module. The control core is connected to the human-machine interaction module through an internal ring network switch. The control core receives operation commands and parameter setting commands, and outputs real-time status and alarm signals through the human-machine interaction module.

[0015] The beneficial technical effects of this application are: This application discloses an active load adjustment control system for an offshore floating wind power platform. This system utilizes a measurement system to collect real-time status data of the platform and the liquid level data of each ballast tank. Through various modules within the control cabinet, it completes the data acquisition, filtering, algorithm calculation, and command issuance processes, improving command accuracy and response speed. This allows for real-time adjustment of the platform's attitude, significantly improving grid-connected power generation efficiency and ensuring platform operation and maintenance safety. The control cabinet of this active load adjustment control system is independently integrated, independent of actuators, providing a core control solution for a 16MW floating wind power platform and promoting the safe, efficient, and intelligent upgrade of deep-sea wind power.

[0016] This active load adjustment control system is also connected to the SCADA system of the offshore floating wind power platform and the shore-based system, enabling it to quickly respond to changes in external disturbances such as wind, waves, and environmental loads, and achieve high-precision control. The active load adjustment control system supports multiple operation modes including automatic, manual, reset, and shutdown, and is compatible with remote monitoring from both the ship and shore, meeting the needs of various operating conditions.

[0017] In addition to the measurement system deployed on the offshore floating wind power platform, all other electrical equipment in this active load control system is integrated into the control cabinet. The control core, sensors, communication, and power supply all adopt a multi-redundancy architecture, and the cabinet provides additional protection, which enhances the system's continuous operation capability in harsh marine environments. It can cope with diverse equipment failures and system interaction alarms, and can ensure the operation of the active load control system, thereby improving the system's reliability and adapting to long-term operation at sea. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the piping topology of multiple ballast water tanks in an example of an offshore floating wind power platform.

[0019] Figure 2 This is a system structure block diagram of an active load control system in one embodiment of this application.

[0020] Figure 3 This is a schematic diagram of the equipment arrangement inside the control cabinet in one embodiment of this application.

[0021] Figure 4 This is a schematic flowchart illustrating the method by which the instruction calculation module generates execution control commands for each ballast water control actuator in one embodiment of this application. Detailed Implementation

[0022] The specific embodiments of this application will be further described below with reference to the accompanying drawings.

[0023] This application discloses an active load control system for an offshore floating wind power platform. The offshore floating wind power platform includes multiple ballast water tanks. The inlet and outlet branches of each ballast water tank are connected through a common main pipe and driven by several ballast water pumps in parallel. Load control valves are installed on the inlet and outlet branches of each ballast water tank. Each load control valve on the inlet and outlet branches of each ballast water tank includes an inlet valve and an outlet valve.

[0024] The specific piping structure of each ballast water tank is determined based on the actual situation. For example, in one instance, such as Figure 1 As shown, the offshore floating wind power platform includes three ballast water tanks: 110, 120, and 130. Ballast water tank 110 has an inlet valve 111 and an outlet valve 112 on its inlet and outlet branches; ballast water tank 120 has an inlet valve 121 and an outlet valve 122 on its inlet and outlet branches; and ballast water tank 130 has an inlet valve 131 and an outlet valve 132 on its inlet and outlet branches. The inlet and outlet branches of the three ballast water tanks are connected via a common main pipe and driven in parallel by three ballast water pumps: 140, 150, and 160. Other necessary valves and components are also included in the actual pipeline structure, but these will not be detailed here.

[0025] This active load adjustment control system includes a control cabinet and a measurement system. Please refer to [link / reference needed]. Figure 2 The system structure block diagram shown is as follows: I. The measurement system includes attitude sensors installed on the offshore floating wind power platform and level sensors arranged in each ballast water tank of the offshore floating wind power platform.

[0026] Attitude sensors installed on offshore floating wind turbine platforms include fiber optic inertial navigation systems (INS) and / or MEMS INS. These sensors collect platform attitude data, including roll, pitch, yaw, heave, and acceleration. In one example, the attitude angle accuracy of the fiber optic INS installed on the offshore floating wind turbine platform does not exceed 0.05°, and the heave accuracy does not exceed 10cm or 5%H, where H represents the actual wave height or vertical motion amplitude. The fiber optic INS has an IP65 protection rating. The dynamic attitude accuracy of the MEMS INS installed on the offshore floating wind turbine platform does not exceed 0.05°, and the operating temperature range is -40℃ to +70℃.

[0027] In the offshore floating wind power platform, the liquid level sensors in each ballast water tank are pressure-type liquid level gauges with a range of 0 to 0.5 m, an accuracy of ±0.5% FS, and a protection level of IP65. The liquid level sensors in each ballast water tank are used to collect liquid level data in the ballast water tank.

[0028] To ensure the reliability of data acquisition, in another embodiment, the attitude sensor and the liquid level sensor in each ballast tank adopt a primary and backup redundancy design: each attitude sensor in the measurement system includes a primary sensor and a redundant sensor, and multiple liquid level sensors are installed in each ballast tank in a combination of side mounting and top mounting. For example, in one embodiment, two liquid level sensors are mounted on the side and two liquid level sensors are mounted on the top in each ballast tank.

[0029] II. The control cabinet integrates a control core, internal ring network switch, external interactive switch, communication interface, and power supply module: 1. The control core is the data processing and control core of the entire active load control system, which is realized through the controller.

[0030] In one embodiment, the control core employs a primary-backup redundancy design. The control core comprises a primary controller and redundant controllers, forming a triple-redundant control core. Each controller uses dual network cards and dual power supplies. In one example, the primary controller and redundant controllers are implemented using NI cRIO-9030. Additionally, two serial port servers are installed within the control cabinet. These servers replicate data collected via the communication interface in a 1-to-2 manner, transmitting the data to the primary controller and redundant controller respectively via an internal ring network switch, ensuring uninterrupted operation even in the event of a single point of failure. In one example, the serial port servers are implemented using ZQWL-HUB-R220.

[0031] 2. Communication interface, responsible for data acquisition and command output of the control cabinet. The communication interface includes serial ports and / or digital interfaces. Serial ports include RS422 serial ports and / or RS485 serial ports. Digital interfaces include digital input interfaces (DI) and digital output interfaces (DO). In one example, the control cabinet includes at least 4 serial ports, and at least 16 digital input interfaces (DI) and 16 digital output interfaces (DO).

[0032] 3. The internal ring network switch is responsible for high-speed communication between various modules within the control cabinet. The control core connects to the communication interface through the internal ring network switch. In one example, the internal ring network switch is implemented using a MOXA EDS-G308-2SFP-T.

[0033] 4. External Interaction Switch: Responsible for high-speed communication between the modules inside the control cabinet and the external system. The communication interface of the control cabinet is connected to the measurement system and the ballast water control actuator in the offshore floating wind power platform through the external interaction switch. The ballast water control actuator includes the ballast water pumps and the ballast water tank inlet and outlet branches of each ballast water tank.

[0034] In another embodiment, the communication interface also connects the data acquisition and monitoring system (SCADA) of the offshore floating wind power platform and the shore-based system via an external interactive switch.

[0035] 5. Power supply module, used to supply power to various electrical devices in the control cabinet. In one embodiment, to ensure power supply reliability, the power supply module includes a battery pack and a UPS uninterruptible power supply, and in practice, it also includes a switching power supply for voltage conversion.

[0036] 6. Circuit protection module. In another embodiment, a circuit protection module is also provided in the control cabinet. The circuit protection module includes at least one of a relay and a double-layer terminal block, as well as a fuse and an air switch for overload, short circuit and overcurrent protection.

[0037] 7. Human-machine interaction module: In another embodiment, a human-machine interaction module is also provided in the control cabinet. The human-machine interaction module can be implemented by a marine integrated computer. The control core is connected to the human-machine interaction module through an internal ring network switch. The human-machine interaction module is used to receive operation commands, parameter setting commands, and to output real-time status and alarm signals.

[0038] All electrical equipment and connecting lines within the control cabinet are housed within the cabinet itself. The cabinet is designed to withstand salt spray, vibration, and electromagnetic interference, and operates at a temperature of -20℃ to +55℃. The arrangement of the electrical equipment within the cabinet is based on actual needs, such as... Figure 3 A schematic diagram of the layout is shown.

[0039] The active load adjustment control system implements the following active load adjustment water control method: 1. Control cabinet power-on self-test: The control core, internal ring network switch, external interactive switch, communication interface and other equipment complete status detection to confirm that all components are connected normally and without faults. The software modules on the control core initialize the human-machine interface, algorithm parameters and communication protocols, and establish communication links with the measurement system and other external systems.

[0040] 2. The measurement system measures the real-time status data of the offshore floating wind turbine platform and transmits it to the communication interface via an external interactive switch, and then to the control core via an internal ring network switch. The real-time status data collected by the measurement system includes at least the platform attitude data and the liquid level data of each ballast tank. The platform attitude data includes the roll angle, pitch angle, yaw angle, heave, and acceleration of the offshore floating wind turbine platform.

[0041] 3. The data interaction module in the control core performs data preprocessing on the real-time status data of the offshore floating wind power platform. The data interaction module in the control core supports at least one of the communication protocols including Modbus TCP and Modbus RTU.

[0042] In the case where the communication interface is also connected to the data acquisition and monitoring system of the offshore floating wind power platform and the shore-based system via an external interactive switch, the communication interface also obtains auxiliary information from the data acquisition and monitoring system of the offshore floating wind power platform and the shore-based system via the external interactive switch, and transmits it to the control core via an internal ring network switch. Correspondingly, the data interaction module in the control core also receives the auxiliary information, performs data preprocessing on the auxiliary information, and transmits the preprocessed auxiliary information to the instruction calculation module. In this embodiment, the auxiliary information includes real-time wind, wave, and current data of the environment in which the offshore floating wind power platform is located, as well as the mooring tension experienced by the offshore floating wind power platform.

[0043] The data interaction module performs data preprocessing on the received real-time status data and auxiliary information, including filtering, format conversion, and removal of pulse interference and error signals.

[0044] 4. The data interaction module in the control core transmits the pre-processed real-time status data to the instruction calculation module in the control core. Under the constraint of the conservation of the total amount of ballast water in all ballast water tanks, the instruction calculation module determines the expected load water volume of each ballast water tank based on the real-time status data and with torque balance as the control objective, and generates the execution control commands for each ballast water control actuator according to the expected load water volume of each ballast water tank.

[0045] When the data interaction module receives auxiliary information, it also transmits the preprocessed auxiliary information to the command calculation module. Under the constraint of the conservation of the total amount of ballast water in all ballast water tanks, the command calculation module, based on real-time status data and auxiliary information, solves the expected load water volume of each ballast water tank with torque balance as the control objective, and generates the execution control commands for each ballast water control actuator according to the expected load water volume of each ballast water tank.

[0046] The real-time status data received by the command calculation module after data preprocessing includes at least the average tilt angle of the platform after applying a moving average filter to the platform tilt angle data of the offshore floating wind power platform. The execution flow of the instruction calculation module includes the following steps, which are the average liquid level after applying a moving average filter to the liquid level data of each ballast water tank. Please refer to [link / reference]. Figure 4 The flowchart shown: (1) Average tilt angle of the testing platform Has the load adjustment start-up tilt angle threshold been reached? The load adjustment start-up tilt angle threshold. It can be taken as an empirical value, such as 1° in a single instance.

[0047] (2) When the average tilt angle of the platform is detected At that time, the ballast water allocation operation will not be initiated, and the real-time status data of the offshore floating wind power platform will continue to be monitored.

[0048] (3) When the average tilt angle of the platform is detected Under the constraint of conserving the total amount of ballast water in all ballast tanks, based on real-time status data and auxiliary information, the expected load water volume of each ballast tank is determined with torque balance as the control objective. Furthermore, execution control commands for each ballast water control actuator are generated according to the expected load water volume of each ballast tank. Specifically: The forces exerted on the offshore floating wind turbine platform by wind, waves, and currents are calculated based on real-time wind, wave, and current data. The external forces acting on the platform are determined by combining this with mooring tension. Finally, the overturning moment caused by external disturbances is calculated by considering the platform's structural stiffness and draft. Specific calculation methods for this step can be found in existing methods and will not be elaborated upon here.

[0049] Then, taking the additional restoring moment generated by ballast water allocation to offset the overturning moment as the mechanical equilibrium condition, and under the constraint of the conservation of the total amount of ballast water in all ballast water tanks, the expected ballast water volume of each ballast water tank is determined, that is, the sum of the expected ballast water volume of all ballast water tanks is 0.

[0050] In another embodiment, to ensure the feasibility of the expected load water volume calculated in the above theoretical calculation, further calculations are made based on the average tilt angle of the platform. Determine whether the current ballast water tank has the capacity for ballast water adjustment based on the expected ballast water volume, including: Determining the average tilt angle of the platform If the current load adjustment capability is not available, proceed directly to the following steps (5). It is the maximum tilt angle and For example, taking in an instance It is 3°.

[0051] Determining the average tilt angle of the platform At that time, the expected loading volume of each ballast water tank is determined according to the above (3), and the expected liquid level height of each ballast water tank when ballast water is allocated according to its expected loading volume based on the average liquid level is determined. When the expected liquid level height of all ballast water tanks does not exceed the liquid level limit, it is determined that the current loading capacity is available, and the following step (4) is executed. When the expected liquid level height of any ballast water tank exceeds the liquid level limit, it is determined that the current loading capacity is not available, and the following step (5) is executed.

[0052] (4) When it is determined that the current ballast water adjustment capability is available, generate the execution control command for each ballast water control actuator according to the expected ballast water volume of each ballast water tank.

[0053] To ensure better load adjustment results, in another embodiment, the execution control commands for each ballast water control actuator are generated based on the following load adjustment strategy and pipeline topology: The load adjustment valves on the inlet and outlet branches of the two ballast water tanks with the largest expected load adjustment volumes are opened, and the ballast water pumps are started. When a single ballast water tank reaches its expected load adjustment volume, the load adjustment valves on the corresponding inlet and outlet branches are closed. While maintaining continuous operation of the ballast water pumps, the load adjustment valves on the inlet and outlet branches of the next ballast water tank are opened in descending order of expected load adjustment volumes, until all ballast water tanks reach their respective expected load adjustment volumes. Under the above load adjustment strategy, the specific command content is determined according to the pipeline topology and is not specifically limited here.

[0054] For example in Figure 1 In this example, assuming that ballast water tank 110 needs to discharge water, while ballast water tanks 120 and 130 both need to receive water, and the expected load adjustment water volume of ballast water tanks 110, 120, and 130 decreases sequentially, then the execution control commands for each ballast water control actuator are generated based on the following load adjustment strategy and pipeline topology: first, control the opening of the outlet valve 112 on the inlet / outlet branch of ballast water tank 110 and the opening of the inlet valve 121 on the inlet / outlet branch of ballast water tank 120, and simultaneously start the three ballast water pumps. When the ballast water tank 120 reaches the expected load capacity, the inlet valve 121 is closed, the inlet valve 131 on the inlet and outlet branch of the ballast water tank 130 is opened, the outlet valve 112 on the inlet and outlet branch of the ballast water tank 110 is kept open, and the ballast water pump is kept running until both the ballast water tank 110 and the ballast water tank 130 reach the expected load capacity.

[0055] (5) When it is determined that there is no current load adjustment capability, the expected load adjustment volume of each ballast water tank is re-determined with the goal of each ballast water tank reaching its initial liquid level. At this time, the expected load adjustment volume of each ballast water tank is the difference between the current average liquid level and the initial liquid level. Then, the execution control command of each ballast water control actuator is generated according to the expected load adjustment volume of each ballast water tank. The load adjustment strategy is described in step (4), and will not be repeated here.

[0056] 5. The command calculation module transmits the execution control commands of each ballast water control actuator to the data interaction module. The data interaction module then transmits these commands to the communication interface via the internal ring network switch, and finally distributes them to each ballast water control actuator via the external interaction switch for ballast water allocation. Simultaneously, it receives real-time status data from the measurement system and auxiliary information from other external systems, dynamically adjusting the execution control commands to form a closed-loop control system. Through multiple load adjustments, the average tilt angle of the platform is adjusted. Less than the load stop tilt angle threshold When the load adjustment is stopped, all ballast water pumps and load adjustment valves are shut down, and the load adjustment stop angle threshold is reached. It can be taken as an empirical value, such as 0.5° in a single instance.

[0057] In addition to supporting the automatic load adjustment mode, which allows for fully autonomous data acquisition, calculation, command issuance, and feedback adjustment, the active load adjustment control system also supports a manual load adjustment mode. In the manual load adjustment mode, the control core receives operation commands through the human-machine interface module and generates execution control commands for each ballast water control actuator, thereby enabling manual control of valve opening and closing and pump start and stop.

[0058] In addition, during the operation of the active load control system, the system monitors internal faults and alarm signals in real time. When the main sensor of a single attitude sensor in the measurement system fails, it automatically switches to a redundant sensor. When an abnormality occurs in the battery pack power supply, it automatically switches to the UPS uninterruptible power supply. When an overload or short circuit is detected, the control circuit protection module activates. When a communication interruption is detected, an alarm signal is output and operating parameters are saved, and communication is automatically resumed after it is restored.

[0059] The above descriptions are merely preferred embodiments of this application, and this application is not limited to the above embodiments. It is understood that other improvements and variations that can be directly derived or conceived by those skilled in the art without departing from the spirit and concept of this application should be considered to be included within the protection scope of this application.

Claims

1. An active load control system for an offshore floating wind power platform, characterized in that, The offshore floating wind power platform includes multiple ballast water tanks. The inlet and outlet branches of each ballast water tank are connected through a common main pipe and driven by several ballast water pumps in parallel. Each ballast water tank is equipped with a load adjustment valve on its inlet and outlet branches. The active load adjustment control system includes a control cabinet and a measurement system. The control cabinet integrates a control core, an internal ring network switch, an external interactive switch, a communication interface, and a power supply module. The power supply module supplies power to the various electrical devices in the control cabinet. The control core is connected to the communication interface through the internal ring network switch. The communication interface of the control cabinet is connected to the measurement system and the ballast water control actuator in the offshore floating wind power platform through the external interactive switch. The ballast water control actuator includes various ballast water pumps and various load adjustment valves. The measurement system includes attitude sensors installed on the offshore floating wind power platform and level sensors arranged in each ballast tank of the offshore floating wind power platform. The measurement system is used to measure the real-time status data of the offshore floating wind power platform and transmit it to the communication interface through an external interactive switch, and to the control core through an internal ring network switch. The real-time status data includes the platform attitude data of the offshore floating wind power platform and the level data of each ballast tank. The control core preprocesses the real-time status data of the offshore floating wind power platform through the data interaction module, and determines the expected load water volume of each ballast water tank based on the real-time status data and the torque balance as the control objective through the command calculation module under the constraint of the total amount of ballast water in all ballast water tanks. It also generates the execution control commands of each ballast water control actuator according to the expected load water volume of each ballast water tank. The control core transmits the execution control commands of each ballast water control actuator to the communication interface via the data interaction module through the internal ring network switch, and then sends them to each ballast water control actuator through the external interaction switch to allocate ballast water.

2. The active load control system according to claim 1, characterized in that, The communication interface is also connected to the data acquisition and monitoring system of the offshore floating wind power platform and the shore-based system via an external interactive switch; The communication interface is also used to obtain auxiliary information from the data acquisition and monitoring system of the offshore floating wind power platform and the shore-based system through an external interactive switch, and transmit it to the control core through an internal ring network switch; the auxiliary information includes real-time wind, wave and current data of the environment in which the offshore floating wind power platform is located and the mooring tension experienced by the offshore floating wind power platform. The control core preprocesses auxiliary information through the data interaction module, and determines the expected load water volume of each ballast water tank by using the instruction calculation module under the constraint of conservation of the total amount of ballast water in all ballast water tanks, based on real-time status data and auxiliary information, with torque balance as the control objective.

3. The active load control system according to claim 2, characterized in that, The instruction calculation module determines the expected load water volume for each ballast tank, including: The command calculation module calculates the wind, wave and current forces acting on the offshore floating wind turbine platform based on real-time wind, wave and current data, determines the external forces acting on the offshore floating wind turbine platform in combination with mooring tension, and calculates the overturning moment generated by external disturbances in combination with the structural stiffness and draft of the offshore floating wind turbine platform. The mechanical equilibrium condition is to use the additional restoring moment generated by ballast water allocation to offset the overturning moment. Under the constraint of the conservation of the total amount of ballast water in all ballast water tanks, the expected amount of ballast water allocated to each ballast water tank is determined.

4. The active load control system according to claim 1, characterized in that, Based on the expected load transfer volume of each ballast water tank, and using the following load transfer strategy combined with the pipeline topology, execution control commands are generated for each ballast water control actuator: Open the ballast water valves on the inlet and outlet branches of the two ballast water tanks with the largest expected ballast water volume and start the ballast water pump. When a single ballast water tank reaches its expected ballast water volume, close the ballast water valve on the corresponding inlet and outlet branch. While keeping the ballast water pump running continuously, open the ballast water valves on the inlet and outlet branches of the next ballast water tank in descending order of expected ballast water volume, until all ballast water tanks reach their respective expected ballast water volumes.

5. The active load control system according to claim 2, characterized in that, The real-time status data received by the instruction calculation module in the control core after data preprocessing includes at least the average tilt angle of the platform after applying a moving average filter to the platform tilt angle data of the offshore floating wind power platform. And the average liquid level after applying a moving average filter to the liquid level data of each ballast water tank; The instruction calculation module in the control core detects the average tilt angle of the platform. Meanwhile, the real-time status data of the offshore floating wind power platform continues to be monitored; the command calculation module detects the average tilt angle of the platform. Under the constraint of conserving the total amount of ballast water in all ballast tanks, the expected load water volume of each ballast tank is determined based on real-time status data and auxiliary information, with torque balance as the control objective. Furthermore, execution control commands for each ballast water control actuator are generated according to the expected load water volume of each ballast tank. It is the tilt angle threshold for load adjustment and start-up.

6. The active load control system according to claim 5, characterized in that, The instruction calculation module detects the average tilt angle of the platform. Under the constraint of conservation of total ballast water in all ballast tanks, the expected ballast water volume of each ballast tank is determined by solving the problem based on real-time status data and auxiliary information, with torque balance as the control objective. Based on the platform's average tilt angle The system determines whether ballast water tanks have the capacity to adjust their load based on the expected load volume of each ballast water tank. If the capacity is confirmed, the system generates execution control commands for each ballast water control actuator based on the expected load volume of each ballast water tank. If the capacity is not confirmed, the system re-determines the expected load volume of each ballast water tank with the goal of reaching its initial liquid level, and generates execution control commands for each ballast water control actuator based on the expected load volume of each ballast water tank.

7. The active load control system according to claim 6, characterized in that, The instruction calculation module calculates the average tilt angle of the platform. Determining whether current ballast water tanks have the capacity for ballast water adjustment based on the expected ballast water volume includes: The instruction calculation module determines the average tilt angle of the platform. It was determined at that time that there was no capacity for load adjustment. It is the maximum tilt angle; The instruction calculation module determines the average tilt angle of the platform. Under the constraint of conserving the total amount of ballast water in all ballast tanks, the expected loading water volume of each ballast tank is determined by solving the problem based on real-time state data with torque balance as the control objective. The expected liquid level height of each ballast tank is determined according to its expected loading water volume based on the average liquid level. When the expected liquid level height of all ballast tanks does not exceed the liquid level limit, it is determined that the current loading capacity is available. When the expected liquid level height of any ballast tank exceeds the liquid level limit, it is determined that the current loading capacity is not available.

8. The active load control system according to claim 1, characterized in that, Each attitude sensor in the measurement system includes a main sensor and redundant sensors, and multiple liquid level sensors are installed in each ballast water tank using a combination of side-mounted and top-mounted methods. The control core inside the control cabinet includes a main controller and a redundant controller. The control cabinet is also equipped with a serial port server, which transmits the real-time status data of the offshore floating wind power platform to the main controller and the redundant controller via an internal ring network switch. The power supply module includes a battery pack and a UPS uninterruptible power supply. The control cabinet is also equipped with a circuit protection module.

9. The active load control system according to claim 8, characterized in that, When the main sensor of a single attitude sensor in the active load control system fails, it automatically switches to a redundant sensor; when the battery pack power supply is abnormal, it automatically switches to a UPS uninterruptible power supply; when an overload or short circuit is detected, the control circuit protection module activates; when a communication interruption is detected, an alarm signal is output and the operating parameters are saved, and the communication is automatically resumed after it is restored.

10. The active load control system according to claim 1, characterized in that, The control cabinet also integrates a human-machine interface module. The control core is connected to the human-machine interface module through an internal ring network switch. The control core receives operation commands and parameter setting commands, and outputs real-time status and alarm signals through the human-machine interface module.

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