Wave energy power generation system and method for identifying hydrodynamic shelter coefficient thereof, and electronic device

Abstract

The application provides a wave energy power generation system and a method for identifying a hydrodynamic shelter coefficient of the wave energy power generation system and an electronic device, and relates to the field of wave energy power generation. The method comprises the following steps: acquiring incident wave parameters and power generation power, rotating speed and electromagnetic damping of a wave energy power generation device, wherein the incident wave parameters comprise wave height, wave spectrum peak period and wave direction of incident waves; determining reference power of the wave energy power generation device under the condition of no upstream shelter based on the electromagnetic damping, the rotating speed, the incident wave parameters and a preset power function; wherein the value of the electromagnetic damping used for determining the reference power is the same as the value of the electromagnetic damping corresponding to the acquired power generation power; determining average power of the wave energy power generation device within a preset time length based on the power generation power; and determining the hydrodynamic shelter coefficient of the wave energy power generation device based on the ratio of the average power to the reference power. The application aims to improve the power generation power of the wave energy power generation system.

Description

Technical Field

[0001] This application relates to the field of wave energy power generation, specifically to a wave energy power generation system and its hydrodynamic shielding coefficient identification method and electronic equipment. Background Technology

[0002] Currently, wave energy generation devices must extract energy through the relative motion of a floating body and the waves. However, energy extraction itself alters the energy distribution of the wave field, resulting in significantly lower actual power generation from devices in the rear rows compared to those in the front rows, leading to a lower overall power output for the array. Furthermore, existing power ratio methods implicitly assume that all devices operate on the same basis, rendering them ineffective in differentiated control scenarios. Multi-point wave measurement schemes are too costly, and CFD / BEM simulations cannot be run online. Summary of the Invention

[0003] The main purpose of this application is to propose a wave energy power generation system and a method for identifying its hydrodynamic shielding coefficient, as well as electronic equipment, with the aim of improving the power generation capacity of the wave energy power generation system.

[0004] This application proposes a method for identifying the hydrodynamic shielding coefficient, applied to a wave energy power generation system. The wave energy power generation system includes a multi-floating array, which comprises multiple wave energy power generation devices arranged along the wave propagation direction. Each wave energy power generation device includes a float, a generator, a converter, and a control module. The method for identifying the hydrodynamic shielding coefficient includes: The incident wave parameters, as well as the power generation, rotational speed, and electromagnetic damping of the wave energy generation device, are obtained. The incident wave parameters include the wave height, wave spectrum peak period, and wave direction of the incident wave. Based on the electromagnetic damping, the rotational speed, the incident wave parameters, and the preset power function, the reference power of the wave energy generation device under conditions of no upstream shielding is determined. The value of the electromagnetic damping used to determine the reference power is the same as the value of the electromagnetic damping corresponding to the power generation. The average power of the power generation device within a preset time period is determined based on the power generation output. The hydrodynamic shielding coefficient of the wave energy power generation device is determined based on the ratio of the average power to the reference power.

[0005] Optionally, the input variables of the preset power function include at least electromagnetic damping, rotational speed, wave height, wave spectrum peak period, wave direction, and device state variables; The device status parameters include the floating body's motion attitude, mooring status, and equipment health.

[0006] Optionally, the preset power function is obtained in the following way: In numerical wave pool simulation or scaled-down model test, the wave energy power generation device is simulated or tested under various combinations of electromagnetic damping, wave height, wave spectrum peak period and wave direction. Record the steady-state average power generation under each combination of conditions, and construct a multi-dimensional lookup table with electromagnetic damping, rotational speed and wave parameters as indexes and steady-state average power generation as the value; The preset power function can be obtained by interpolation based on the current operating conditions and by looking up a table.

[0007] Optionally, determining the hydrodynamic shielding coefficient of the wave energy generation device based on the ratio of the average power to the reference power includes: The normalized power ratio is determined based on the average power, the reference power, and a preset first formula. The hydrodynamic shielding coefficient is determined based on the normalized power ratio and the preset second formula. The first formula is: , The normalized power ratio, The average power, The reference power; The second formula is: , The hydrodynamic shielding coefficient is given.

[0008] Optionally, if the reference power is lower than a preset minimum power threshold, the hydrodynamic shielding coefficient is not updated and the previous valid value is maintained; The hydrodynamic shielding coefficient is limited between a first preset amplitude and a second preset amplitude; The hydrodynamic shielding coefficient is updated using exponential smoothing filtering.

[0009] Optionally, the method for identifying the hydrodynamic shielding coefficient further includes: A data quality coefficient is introduced to reflect the reliability of the data for the identification of the hydrodynamic shielding coefficient; The data quality coefficient is determined based on at least one of the following: device operating status, reference power level, sensor signal-to-noise ratio, and sea state estimation confidence level; If the data quality coefficient is higher than a first preset threshold, the hydrodynamic shielding coefficient is allowed for use in downstream applications.

[0010] Optionally, the first row of the multi-floating body array is determined based on the wave direction, and the row of devices that first encounters the incident wave along the wave propagation direction is defined as the first row, and the subsequent row numbers are sequentially increased along the wave direction. If the angle between the wave direction and the array row direction exceeds a preset angle, row and column reorganization is triggered to make the row direction consistent with the wave direction.

[0011] Optionally, the method for identifying the hydrodynamic shielding coefficient further includes: A wave-direction-dependent lateral verification was performed on the hydrodynamic shielding coefficients of devices in each column within the same row: A lateral baseline is established based on the wave direction, array geometry, and historical statistical characteristics. If the hydrodynamic shielding coefficient of a certain unit exceeds the preset deviation range, it is identified as an anomaly and response measures are triggered. The measures include reducing the data quality coefficient of the wave energy generation device, removing data points from the shading identification, or triggering online correction of the power function.

[0012] Optionally, if the input parameters of the power function exceed the preset data range, neighborhood interpolation extrapolation with a conservative margin is used, or the system is switched to a degraded control mode. The degradation control mode includes independent maximum power point tracking control; After the input parameters are restored to the preset data range, the occlusion coefficient recognition is restored; When the wave energy power generation device is in a state of startup, shutdown, power limitation, fault, or communication abnormality, the update of the hydrodynamic shielding coefficient of the wave energy power generation device shall be suspended and the previous effective value shall be maintained.

[0013] Optionally, the electrical cooperative control method includes: Acquire the incident wave parameters and the electrical parameters of the wave energy generation device; The incident wave parameters include wave height, wave spectrum peak period, and wave direction, and the electrical parameters include the electromagnetic damping and power generation of the wave energy power generation device. The energy absorption efficiency of the wave energy generation device is determined based on the electromagnetic damping of the wave energy generation device. For the first row of the multi-floating body array, the wave energy flux density of the incident wave is determined based on the wave height, the wave spectrum peak period, and a preset first logical relationship. For each row of devices after the first row, the wave energy flow density reaching the device in that row is determined by a row-by-row recursive method. The wave energy flow density of the rear row of devices is equal to the wave energy flow density of the front row of devices multiplied by the wave energy remaining ratio of the front row of devices, and then multiplied by a preset inter-row propagation factor. The wave energy remaining ratio is one minus the energy absorption efficiency of the front row of devices. Based on the wave energy flux density and the energy absorption efficiency, a mapping relationship is established between the predicted total power generation of the multi-floating body array and the electromagnetic damping. With the goal of maximizing the predicted total power generation of the multi-floating array, and with the electromagnetic damping of the wave energy generation device as the optimization variable, the solution is obtained under preset constraints to obtain the target electromagnetic damping of multiple wave energy generation devices. The target electromagnetic damping is converted into electromagnetic torque, and the converter is controlled to perform the operation.

[0014] Optionally, determining the energy absorption efficiency of the wave energy generation device based on its electromagnetic damping includes: The energy absorption efficiency is determined based on the electromagnetic damping, the wave energy flux density, and the preset second logic relationship. When the electromagnetic damping is equal to the preset optimal damping, the energy absorption efficiency reaches its maximum value; When the electromagnetic damping is greater than or less than the preset optimal damping, the energy absorption efficiency decreases. The second logical relationship is , The wave-facing width of the buoy. For wave excitation force, For the electromagnetic damping, The mechanical resistance of the buoy is given. The wave energy flux density, The energy absorption efficiency is denoted as .

[0015] Optionally, the first row of the multi-floating body array is dynamically determined based on the real-time wave direction: In each control cycle, based on the wave direction, the row of devices in the multi-floating array that first encounters the incident wave along the wave propagation direction is determined as the current first row, and the subsequent row numbers are sequentially increased along the wave propagation direction. If the angle between the wave direction and the array row direction exceeds a preset range, the row and column reorganization of the multi-floating body array is triggered.

[0016] Optionally, the electrical coordination control method further includes obtaining the hydrodynamic shielding coefficient of the wave energy generation device; The hydrodynamic shielding coefficient is obtained through any of the following methods: Online identification is performed using a pre-calibrated occlusion coefficient identification method; or, Pre-calculation and storage are performed using offline hydrodynamic simulation.

[0017] Optionally, the inter-row propagation factor is determined in the following manner: The inter-row propagation factor under different wave parameters and device spacing is pre-calibrated through offline numerical simulation and a lookup table is constructed to store it. During operation, the power deviation between the actual total power generation of the multi-floating array and the predicted total power generation is monitored; If the power deviation exceeds the second preset threshold for a consecutive preset number of control cycles, the correction of the inter-row propagation factor is triggered. The time interval between two corrections to the interline propagation factor is not less than a preset minimum correction interval.

[0018] Optionally, establishing the mapping relationship between the predicted total power generation of the multi-floating body array and the electromagnetic damping based on the wave energy flux density and the energy absorption efficiency includes: Based on the wave energy flux density, the energy absorption efficiency, the electromechanical conversion efficiency of the wave energy power generation device, and the preset third logic relationship, the predicted power generation of the device is determined. The sum of the predicted power generation of the wave energy power generation device is taken as the predicted total power generation of the multi-floating body array.

[0019] Optionally, the preset constraints include at least: The electromagnetic damping of the wave energy generation device is within a preset range; The predicted power generation is less than or equal to the preset power generation; The amplitude of motion of the floating body is less than or equal to a preset amplitude; The wave energy flux density of the waves received by the wave energy power generation devices in the rear row is less than or equal to the wave energy flux density of the waves received by the wave energy power generation devices in the front row.

[0020] Optionally, the step of solving under preset constraints to obtain the target electromagnetic damping of multiple wave energy generation devices includes: The solution is obtained by sequential quadratic programming or hierarchical accelerated solution. The hierarchical accelerated solution includes: decoupling the multi-floating array into multiple sub-problems in columns, solving each sub-problem separately, and then merging the results; The target electromagnetic damping is obtained by interpolation based on the sea state using a pre-stored optimal electromagnetic damping lookup table.

[0021] Optionally, the step of converting the target electromagnetic damping into electromagnetic torque and controlling the converter to perform includes: The target electromagnetic damping is converted into a generator torque setpoint for the wave energy power generation device; The rate of change of the generator torque setpoint is limited to ensure that the generator torque setpoint changes to the target value in a manner that does not exceed a preset maximum rate of change. The target value is sent to the converter as the electromagnetic torque, and the converter is controlled to perform the operation.

[0022] This application also proposes a wave energy power generation system, which includes a multi-floating body array; The multi-floating body array includes multiple wave energy generation devices arranged along the wave propagation direction; The wave energy generation device includes a float, a generator, a converter, and a control module; The control module is used to execute the hydrodynamic shielding coefficient identification method as described in any of the above.

[0023] This application also proposes an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the hydrodynamic shielding coefficient identification method as described in any of the above claims.

[0024] This application proposes a method for identifying the hydrodynamic shielding coefficient, applied to a wave energy power generation system. The wave energy power generation system includes a multi-floating array, which comprises multiple wave energy power generation devices arranged along the wave propagation direction. Each wave energy power generation device includes a float, a generator, a converter, and a control module. The method for identifying the hydrodynamic shielding coefficient includes: acquiring incident wave parameters and the power generation, rotational speed, and electromagnetic damping of the wave energy power generation devices. The incident wave parameters include the wave height, wave peak period, and wave direction of the incident wave; determining a reference power of the wave energy power generation device based on the electromagnetic damping, the rotational speed, the incident wave parameters, and a preset power function; wherein the value of the electromagnetic damping used to determine the reference power is the same as the value of the electromagnetic damping corresponding to the power generation; determining the average power of the power generation device within a preset time period based on the power generation; and determining the hydrodynamic shielding coefficient of the wave energy power generation device based on the ratio of the average power to the reference power.

[0025] Compared with the prior art, the present invention has the following beneficial effects: With the above settings, the hydrodynamic shielding coefficient of each device in the array is identified by using the existing sensors and pre-calibrated reference power function. The identification result is not affected by the different settings of the electromagnetic damping of the device itself, providing a reliable basis for subsequent coordinated control to improve the power generation of the wave energy power generation system. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0027] Figure 1 This is a schematic flowchart illustrating an embodiment of the wave energy power generation system and its hydrodynamic shielding coefficient identification method and electronic equipment of this application. Figure 2 This is a schematic diagram illustrating the wave energy power generation system and the method for identifying its hydrodynamic shielding coefficient, as well as the method for pre-setting the power function in electronic equipment. Figure 3 This is a schematic diagram illustrating the wave energy power generation system and its hydrodynamic shielding coefficient identification method, as well as the method for determining the hydrodynamic shielding coefficient in electronic equipment. Figure 4 This is a schematic diagram illustrating the wave energy power generation system and its hydrodynamic shielding coefficient identification method, as well as the method for limiting the hydrodynamic shielding coefficient in electronic equipment. Figure 5 This is a schematic diagram illustrating the wave energy power generation system and its hydrodynamic shielding coefficient identification method, as well as the method for introducing data quality coefficients into electronic equipment, as described in this application. Figure 6 This is a schematic diagram illustrating the identification method of the wave energy power generation system and its hydrodynamic shielding coefficient, as well as the lateral verification method in electronic equipment, as described in this application. Figure 7 This is a schematic diagram of the method for identifying the wave energy power generation system and its hydrodynamic shielding coefficient, and the method for electrical cooperative control in electronic equipment, as described in this application. Figure 8 This is a schematic diagram illustrating the wave energy power generation system and its hydrodynamic shielding coefficient identification method, as well as the method for determining energy absorption efficiency in electronic devices, as described in this application. Figure 9 This is a schematic diagram illustrating the wave energy power generation system and its hydrodynamic shielding coefficient identification method, as well as the row and column reorganization method in electronic equipment, as described in this application. Figure 10 This is a schematic diagram illustrating the wave energy power generation system and its hydrodynamic shielding coefficient identification method, as well as the method for determining the propagation factor in electronic equipment, as described in this application. Figure 11 This is a schematic diagram illustrating the wave energy power generation system and its hydrodynamic shielding coefficient identification method, as well as the method for determining the predicted total power generation of a multi-floating array in electronic equipment. Figure 12This is a schematic diagram illustrating the wave energy power generation system and its hydrodynamic shielding coefficient identification method, as well as the method for converting target electromagnetic damping into electromagnetic torque in electronic equipment. Figure 13 This is a schematic diagram of the wave energy power generation system and its hydrodynamic shielding coefficient identification method, as well as the structural module of the multi-floating body array in the electronic equipment.

[0028] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0029] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0030] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0031] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution that simultaneously satisfies A and B. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0032] Currently, wave energy generation devices must extract energy through the relative motion between the floating body and the waves, and this energy extraction itself inevitably alters the energy distribution of the wave field. After the front-row devices extract energy from the waves, the wave height propagating to the rear-row devices decreases, and the magnitude of this decrease is positively correlated with the energy absorbed by the front-row devices. The actual power generation of the rear-row devices is significantly lower than that of the front-row devices, resulting in a lower overall power generation of the array.

[0033] The wave height, period, and direction of the wave field are time-varying, and the motion state of the floating body also changes with sea state. Therefore, the strength of the hydrodynamic shielding effect is not a fixed value, but dynamically changes with sea state and device operating status. A shielding identification method that can operate online and relies solely on existing device measurements is needed to determine how much energy absorption the front-end devices should reduce and how much energy absorption the rear-end devices should increase. Existing power ratio methods implicitly assume that "all devices are set the same," which fails in differentiated control scenarios. Multi-point wave measurement schemes are too costly, and CFD / BEM simulations cannot be run online.

[0034] Therefore, this application proposes a method for identifying the hydrodynamic shielding coefficient, which is applied to a wave energy power generation system. The wave energy power generation system includes a multi-floating array, which includes multiple wave energy power generation devices arranged along the wave propagation direction. Each wave energy power generation device includes a float, a generator, a converter, and a control module.

[0035] Alternatively, the multi-floating body array can be a rectangular array or an irregular array.

[0036] In one example, reference Figure 13 The multi-floating array is a rectangular array with M rows arranged along the wave propagation direction, numbered i=1,2,…,M, where i=1 is the first row. It also has N columns arranged perpendicular to the wave propagation direction, numbered j=1,2,…,N. The device (i,j) represents the wave energy generation device located in the i-th row and j-th column.

[0037] Optionally, the control module can be implemented using a main controller, such as an MCU, PLC, DSP (Digital Signal Processor), SOC (System-on-Chip), or FPGA (Field-Programmable Gate Array). The control module is used to execute the hydrodynamic shielding coefficient identification method.

[0038] In one embodiment of this application, reference is made to Figure 1 Methods for identifying the hydrodynamic shielding coefficient include: S100: Obtain incident wave parameters and the power generation, rotational speed, and electromagnetic damping of the wave energy generator. The incident wave parameters include the wave height, wave spectrum peak period, and wave direction of the incident wave.

[0039] In this embodiment, optionally, the incident wave parameters include wave height. Wave spectrum peak cycle and wave direction Electrical parameters include the electromagnetic damping of the wave energy generation device. and power generation In one example, the control module infers wave parameters using raw measurement data from upstream wave measurement sensors, such as wave radar, wave buoys, or acoustic Doppler current profilers (ADCPs), or by using the motion response of the buoys in the front row of the array. The control module then uses wave elevation time history data... Perform a fast Fourier transform to calculate the wave spectrum. , For frequency resolution, Sampling time. The wave direction of the incident wave is obtained through directional spectrum estimation using wave radar or ADCP.

[0040] In another example, if the array is not equipped with independent wave sensors, an alternative can be used: the incident wave parameters can be inferred by using the displacement response of the floating bodies of the N devices in the first row and then inferring them through the transfer function. Transfer function That is, the displacement response of the floating body and incident wave height The complex ratio of the transfer function, which can be obtained through hydrodynamic simulation during the device design phase, is considered a known characteristic of the device. Then the incident spectrum... And then calculate and .

[0041] Optionally, for each wave energy generation device (i,j), the following operating data is collected: power generation. , where u d ,u q and i d i q These represent the stator voltage and current components in the dq coordinate system, respectively. For DC bus systems, they can also be calculated using the DC side voltage and current. Generator speed. Electromagnetic torque can be obtained directly from the encoder / resolver. The torque setpoint is obtained from the vector controller, while the electromagnetic damping coefficient is... The above data is stored in a sliding window manner; in one example, the window length covers 20 wave cycles.

[0042] S200: Based on electromagnetic damping, rotational speed, incident wave parameters, and a preset power function, determine the reference power of the wave energy generation device under conditions of no upstream shielding.

[0043] The value of the electromagnetic damping used to determine the reference power is the same as the value of the electromagnetic damping corresponding to the power generation. In this embodiment, optionally, within the same column j, devices in different rows i are positioned on the same incident wave direction, experiencing different wave field conditions only due to their different positions. Therefore, the power difference between devices in each row within the same column is mainly caused by the hydrodynamic shielding effect. However, the key issue is that the power difference is not entirely equal to shielding. Different electromagnetic damping settings, equipment states, and generator efficiencies of each device can all lead to power differences. If the output power ratio is used directly to determine shielding, the power difference caused by the control strategy will be misjudged as hydrodynamic shielding, forming a self-excited deviation closed loop. Therefore, it is first necessary to isolate the influence of control variables and equipment states.

[0044] Optionally, the preset power function is the power characteristic function of each wave energy generation device under conditions of no upstream obstruction. This function is obtained through offline simulation or experimental calibration. By substituting the current electromagnetic damping, current rotational speed, and incident wave parameters obtained in S100 into the above power function, the reference power of each wave energy generation device under the current operating state and sea state can be calculated. The physical meaning of this reference power is the power value that the device is expected to generate when operating with the current electromagnetic damping and rotational speed under ideal conditions of no upstream obstruction.

[0045] It should be noted that the reference power is calculated based on the actual electromagnetic load setting of the device, rather than on a preset fixed damping value. This consistent damping constraint ensures that the difference between the measured power and the reference power in subsequent steps accurately reflects the hydrodynamic shielding effect, rather than power differences caused by changes in the control strategy.

[0046] S300: Determine the average power of the power generation device within a preset time period based on the power generation capacity.

[0047] In this embodiment, optionally, because wave motion is periodic, the instantaneous power generation of the floating body fluctuates drastically with the wave surface undulations, and the instantaneous power at a single sampling moment cannot stably characterize the energy output level of the device under wave action. Therefore, the acquired power generation is averaged over a preset time period to obtain the average power of the device over that preset time period. ,in This represents the actual power generation capacity.

[0048] S400. Based on the ratio of average power to reference power, determine the hydrodynamic shielding coefficient of the wave energy power generation device.

[0049] In this embodiment, optionally, the ratio of average power to reference power is calculated. This ratio reflects the degree to which the power output of the device under current actual wave field conditions is maintained relative to unshielded ideal conditions.

[0050] In one example, when the device is at the front of the array and unshielded by upstream devices, its actual incident wave energy equals the incident wave energy, and the ratio of average power to reference power is close to 1. When the device is in the back row and is hydrodynamically shielded by upstream devices, its actual incident wave energy is lower than the incident wave energy, and its average power is lower than the reference power, with the ratio being less than 1. The greater the deviation of this ratio from 1, the more severe the hydrodynamic shielding experienced by the device.

[0051] Optionally, the hydrodynamic shielding coefficient of the wave energy power generation device can be determined based on this ratio. The hydrodynamic shielding coefficient is used to quantify the proportion of power lost by the device due to the shielding effect of upstream devices. This coefficient can be directly used for subsequent collaborative optimization.

[0052] With the above settings, the hydrodynamic shielding coefficient of each device in the array is identified by using the existing sensors and pre-calibrated reference power function. The identification result is not affected by the different settings of the electromagnetic damping of the device itself, providing a reliable basis for subsequent coordinated control to improve the power generation of the wave energy power generation system.

[0053] According to some embodiments of this application, optionally, in one embodiment of this application, the input variables of the preset power function include at least electromagnetic damping, rotational speed, wave height, wave spectrum peak period, wave direction, and device state quantity; Among them, the device status parameters include the floating body's motion attitude, mooring status, and equipment health.

[0054] In this embodiment, optionally, the preset power function is the power characteristic function of each wave energy generation device under the condition of no upstream shielding. Its input includes at least electromagnetic damping. Rotation speed and incident wave parameters ; Optional device state parameters, such as float attitude, mooring status, or equipment health indicators, are used to further improve the accuracy of the reference power. Wave direction The inclusion of wave direction is particularly important for array scenarios—the effective wave width and upstream-downstream relationship of the device change under different wave directions, and ignoring the wave direction will lead to deviations in the reference power estimation.

[0055] With the above settings, the input variables include device state variables. When the device experiences performance degradation due to long-term operation, it can be reflected in the reference power, reducing the probability of misjudging the device's own problems as shading effects and improving the accuracy of shading coefficient identification results.

[0056] According to some embodiments of this application, optionally, in one embodiment of this application, reference is made to... Figure 2 The preset power function is obtained in the following way: S210. In numerical wave pool simulation or scaled-down model test, simulate or test the wave energy power generation device under various combinations of electromagnetic damping, wave height, wave spectrum peak period and wave direction. S220. Record the steady-state average power generation under each combination of conditions, and construct a multi-dimensional lookup table with electromagnetic damping, rotational speed and wave parameters as indexes and steady-state average power generation as the value. S230: The preset power function can be obtained by interpolation based on the current operating conditions.

[0057] In this embodiment, optionally, a preset power function The calibration can be pre-calibrated through offline hydrodynamic simulation (CFD / BEM) or scaled-down model experiments, and stored in the array controller in the form of a multidimensional lookup table or fitting formula—this is an inherent characteristic of the device and does not depend on the array model. A typical calibration method involves calibrating a single device in a numerical wave tank under various conditions. Simulations were performed under combined conditions, and steady-state average power was recorded to construct a multidimensional lookup table. When used online, the power characteristic function can be obtained by interpolation based on the current operating conditions and by looking up the table. If individual devices exhibit differences due to manufacturing tolerances or aging, a separate preset power function can be calibrated for each device. .

[0058] By introducing a single-device reference power function through the above settings, the measured power is compared with the reference power under the same control settings. After removing the influence of control variables and sea state, the shielding coefficient is obtained. Only the existing sensors and offline calibrated reference power meters of the device are used, without the need to deploy additional wave measurement equipment in the array.

[0059] According to some embodiments of this application, optionally, in one embodiment of this application, reference is made to... Figure 3 Based on the ratio of average power to reference power, the hydrodynamic shielding factor of the wave energy power generation device is determined as follows: S410. Determine the normalized power ratio based on the average power, the reference power, and the preset first formula; S420. The hydrodynamic shielding coefficient is determined based on the normalized power ratio and the preset second formula. The first formula is: , For normalized power ratio, Average power, Reference power; The second formula is: , This is the hydrodynamic shielding coefficient.

[0060] In this embodiment, optionally, the normalized power ratio of device (i,j) is defined. The ratio of measured power to reference power: Therefore, the hydrodynamic shielding coefficient is defined. : .

[0061] It should be noted that, and The same electromagnetic damping was used When the array controller actively directs the front row devices When adjusting to "transfer" wave energy, The energy absorption of the floating body decreases because the damping is reduced. It also decreases because With the same As input. The ratio of the two. Therefore, it offset The effect only reflects the power gap that cannot be explained by control quantities and sea state. The physical source of this gap is hydrodynamic shielding, that is, the wave energy reaching the device is lower than the wave energy of the incident wave.

[0062] Optionally, when there is no shading effect Approximately equal to 1, Approximately zero; the stronger the shielding, The smaller The larger. The physical meaning is: under the condition that the reference power model is effective, the proportion of the power generation lost by device (i,j) due to hydrodynamic shielding to its unshielded reference power.

[0063] By setting the above parameters, the measured power and the reference power are compared under the same electromagnetic damping setting, so that the residual only reflects the physical effect of wave field energy propagation, thus improving the accuracy of the shielding coefficient identification result.

[0064] According to some embodiments of this application, optionally, in one embodiment of this application, reference is made to... Figure 4 S430: When the reference power is lower than the preset minimum power threshold, the hydrodynamic shielding coefficient is not updated and the previous effective value is maintained. S431, The hydrodynamic shielding coefficient is limited between a first preset amplitude and a second preset amplitude; S432. The hydrodynamic shielding coefficient is updated using exponential smoothing filtering.

[0065] In this embodiment, optionally, at the reference power When the value is too low, for example under slight waves, the device generates almost no power, and the ratio... It is extremely sensitive to measurement noise; in addition, local wavefield enhancement or reference model deviation may cause... If the value is greater than 1, a limiting effect is applied to the shading coefficient: , where P min This is set as the minimum reference power threshold, for example, 5% to 10% of the rated power, or based on the sensor noise level. When the reference power is less than this minimum reference power threshold, the shading coefficient is not updated; that is, the previous valid value is retained. min The minimum permissible shielding factor can be set to 0 to clamp negative values, or a small negative value can be retained to detect the enhanced interference effect of radiated waves. max To achieve the maximum occlusion factor, such as 0.95, reduce the influence of extreme values ​​on array decisions.

[0066] Optionally, to reduce drastic jumps in the estimation of the shielding coefficient caused by random fluctuations in sea state, exponential smoothing is employed: Where α is the smoothing factor, To control the cycle time. The larger α is, the more sensitive it is to new measurements; the smaller α is, the stronger the smoothing effect but the greater the response delay.

[0067] By implementing the above settings, the hydrodynamic shielding coefficient is subjected to amplitude limiting and smoothing filtering. Under low sea state conditions, the unreliable data contamination of the shielding coefficient sequence is reduced through the update prohibition mechanism, thereby improving the robustness and reliability of the shielding coefficient identification results in engineering applications and reducing the system's sensitivity to sensor noise and random fluctuations in sea state.

[0068] According to some embodiments of this application, optionally, in one embodiment of this application, reference is made to... Figure 5 Methods for identifying the hydrodynamic shielding coefficient also include: S440. A data quality coefficient is introduced to reflect the reliability of the data for hydrodynamic shielding coefficient identification. The data quality coefficient is determined based on at least one of the following: device operating status, reference power level, sensor signal-to-noise ratio, and sea state estimation confidence level. S441. When the data quality coefficient is higher than the first preset threshold, the hydrodynamic shielding coefficient is allowed to be used for downstream applications.

[0069] In this embodiment, optionally, the data quality coefficient q ij The quality coefficient, ranging from 0 to 1, reflects the reliability of the current data from each device for identifying the masking coefficient. The quality coefficient comprehensively considers the following factors: First, the device's operating status; when the device is in a startup, shutdown, power-limited, faulty, or communication abnormal state, q... ij =0, the device data does not participate in occlusion recognition; second, reference power level, when the device's reference power is less than the minimum reference power threshold, q ij The signal-to-noise ratio (SNR) is reduced by a preset percentage; third, regarding sensor signal quality, when the SNR of the speed or power measurement signal is lower than the preset SNR, q is reduced. ijFourth, the confidence level of sea state estimation, when the incident wave parameters... When the confidence level of the estimate is insufficient, reduce q. ij .

[0070] Optionally, the shading coefficient of the device is used for subsequent collaborative optimization only when the data quality coefficient is higher than a first preset threshold, such as 0.6; otherwise, the optimizer temporarily switches the device to a conservative control mode, such as fixed damping or independent MPPT, and it will rejoin the collaboration after the data quality is restored.

[0071] With the above settings, when the input parameters exceed the calibration data range, a degradation strategy is triggered—temporarily switching to independent MPPT control, and resuming collaborative control after the sea state returns to the calibration range. This reduces interference from differentiated control strategies in masking identification and improves the accuracy of masking identification.

[0072] According to some embodiments of this application, optionally, in one embodiment of this application, the first row of the multi-floating body array is determined based on the wave direction, and the device row that first encounters the incident wave along the wave propagation direction is defined as the first row, and the subsequent row numbers are sequentially increased along the wave direction. If the angle between the wave direction and the array row direction exceeds a preset angle, row and column reorganization is triggered to make the row direction consistent with the wave direction.

[0073] In this embodiment, the multi-floating body array may optionally be a rectangular array or an irregular array.

[0074] In one example, reference Figure 13 The multi-floating array is a rectangular array with M rows arranged along the wave propagation direction, with row numbers i=1,2,…,M. i=1 is the first row. The N columns are arranged perpendicular to the wave propagation direction, with column numbers j=1,2,…,N. Device (i,j) represents the wave energy generation device located in the i-th row and j-th column.

[0075] It should be noted that, due to the changing wave direction in actual sea areas, such as tidal shifts and seasonal wind field variations, the first row of the array should not be fixed to a geographically specific row of devices. Based on the real-time wave direction, the row of devices in the array that first encounters the incident wave along the wave propagation direction is defined as the current first row, i.e., i=1, and subsequent row numbers i=2,3,…,M increasing sequentially along the wave direction. For rectangular arrays, when the angle between the wave direction and the array row direction is within ±45°, the physical row direction of the array is essentially consistent with the wave direction, and the original row and column numbers can be used directly. When the angle exceeds this range, the system automatically triggers row and column reorganization—reassigning the original "column" direction as a temporary "row" direction, ensuring that the row direction always remains essentially consistent with the wave direction, and guaranteeing that the physical assumption of the shielding effect propagating step-by-step along the row direction always holds true.

[0076] With the above settings, regardless of how the wave direction changes, the row number is always aligned with the actual wave propagation direction, providing a correct row order basis for subsequent in-row and inter-column verification.

[0077] According to some embodiments of this application, optionally, in one embodiment of this application, reference is made to... Figure 6 Methods for identifying the hydrodynamic shielding coefficient also include: S500, Perform wave-direction-related lateral verification of the hydrodynamic shielding coefficient of each column of devices in the same row: S510. Establish a lateral benchmark based on wave direction, array geometry, and historical statistical characteristics. S520. If the hydrodynamic shielding coefficient of a certain unit exceeds the preset deviation range, it is determined to be an anomaly and the handling measures are triggered. The remedial measures include reducing the data quality factor of wave energy generation devices, removing data points from the shading identification, or triggering online correction of the power function.

[0078] In this embodiment, optionally, obliquely incident waves can cause waves to arrive at different columns of the same row at different times and with different intensities, and the diffraction effect on the edge columns of the array will also differ from that of the middle columns. Therefore, based on real-time wave direction, array geometry, and historical statistical characteristics, a wave direction-related lateral reference is established for each column within the same row. The row average shading coefficient is defined as follows: After establishing a horizontal baseline based on wave direction, array position and historical statistical characteristics, deviation analysis is performed on the shading coefficients of each column in the same row.

[0079] Optionally, when a certain train of devices S ij When the deviation exceeds the allowable range under the corresponding operating conditions, it is determined that there may be local occlusion anomaly, equipment malfunction, or reference model mismatch, and corresponding measures are triggered—reducing the data quality coefficient of the device, removing data points from the optimization, or triggering online correction of the reference model.

[0080] Optionally, if the S of a certain device ij A negative systematic value indicates that the measured power exceeds the predicted reference power value. This may be due to the enhanced interference effect of the radiated wave from the upstream device or a calibration deviation of the preset power function. In this case, the S of the device should be... ij The clipping is clamped to 0 using a clipping mechanism, an anomaly is flagged, and a reference model check is triggered.

[0081] With the above setup, the devices in each column of the same row form a natural redundant information source, eliminating the need for additional sensors for verification. Furthermore, by detecting deviations in the occlusion coefficient of a certain column from the lateral reference, spatial anomalies that cannot be detected by single-device temporal filtering are compensated for.

[0082] According to some embodiments of this application, optionally, in one embodiment of this application, when the input parameters of the power function exceed the preset data range, neighborhood interpolation extrapolation with an additional conservative margin is used, or the system is switched to a degraded control mode. Among them, the degradation control mode includes independent maximum power point tracking control; After the input parameters are restored to the preset data range, the occlusion coefficient recognition is restored; When the wave energy power generation device is in a state of startup, shutdown, power limitation, failure, or communication abnormality, the update of the hydrodynamic shielding coefficient of the wave energy power generation device shall be suspended and the previous effective value shall be maintained.

[0083] In this embodiment, optionally, the preset power function is pre-calibrated through offline hydrodynamic simulation or scaled-down model experiments, and its calibration range covers the main sea state parameters and combinations of operating parameters within the device's designed operating conditions. However, in actual sea operation, situations may arise where the current operating parameters exceed the calibration data range. For example, under extreme storm conditions, wave height may exceed the calibration upper limit, abnormal swells may cause the wave spectrum peak period to exceed the calibration range, or the device may experience abnormal rotational speed deviations from the normal range due to a malfunction. In these cases, directly using the power function for extrapolation calculations may lead to significant deviations in the estimation of the reference power.

[0084] In one example, when the input parameter exceeds the calibration data range but the magnitude of the excess is within a preset allowable range, the nearest valid data point or data region to the current input parameter is located in the calibration data space. Extrapolation interpolation is then performed based on the changing trends of the data points within this neighborhood to obtain an estimate of the reference power. Simultaneously, considering that the extrapolated region lacks direct support from calibration data and the estimated value has significant uncertainty, a conservative margin is added to the calculated reference power estimate to make it biased towards the conservative side.

[0085] In another example, when the input parameters exceed the calibrated data range but the magnitude of the exceedance is within the preset allowable range, a degraded control mode is triggered: the device's hydrodynamic shielding coefficient identification function is temporarily suspended, and the device control switches from the cooperative optimization mode to the independent maximum power point tracking control mode. In the independent maximum power point tracking control mode, the device no longer waits for the shielding coefficient command from the array controller, but independently determines the optimal electromagnetic damping setting based on its own power-speed characteristics to maximize its own power generation.

[0086] Optionally, during long-term operation, each wave energy generation device in the multi-floating array may be in different operating states due to scheduling instructions or abnormal operating conditions. When a device is in a state of startup, shutdown, power-limited operation, fault, or communication abnormality, the operating data such as the device's power generation, speed, and electromagnetic damping cannot represent the normal power generation conditions. In this case, the update of the hydrodynamic shielding coefficient of the wave energy generation device is suspended and the previous valid value is maintained.

[0087] By introducing neighborhood interpolation extrapolation and conservative margin through the above settings, an engineering-acceptable reference power estimate can still be given when the input parameters are mildly out of range. Furthermore, the conservative margin reduces the erroneous control caused by the system overestimating the reference power, enabling the method to maintain a certain degree of occlusion recognition function under operating conditions near the calibration boundary.

[0088] According to some embodiments of this application, optionally, in one embodiment of this application, reference is made to... Figure 7 Electrical coordinated control methods include: S600: Acquire incident wave parameters and electrical parameters of the wave energy generation device; Among them, the incident wave parameters include wave height, wave spectrum peak period and wave direction, and the electrical parameters include the electromagnetic damping and power generation of the wave energy power generation device; S700. Based on the electromagnetic damping of the wave energy generation device, determine the energy absorption efficiency of the wave energy generation device. S800. For the first row of devices of the multi-floating body array, the wave energy flux density of the incident wave is determined based on the wave height, the wave spectrum peak period and the preset first logic relationship. S900. For each row of devices after the first row, determine the wave energy flux density reaching the device in that row by row-by-row recursion. Among them, the wave energy flow density of the rear row device is equal to the wave energy flow density of the front row device multiplied by the wave energy remaining ratio of the front row device and then multiplied by the preset inter-row propagation factor. The wave energy remaining ratio is one minus the energy absorption efficiency of the front row device. S1000. Based on wave energy flux density and energy absorption efficiency, a mapping relationship between the predicted total power generation of a multi-floating body array and electromagnetic damping is established. S2000: With the goal of maximizing the predicted total power generation of the multi-floating array, and with the electromagnetic damping of the wave energy power generation device as the optimization variable, the solution is performed under preset constraints to obtain the target electromagnetic damping of multiple wave energy power generation devices. S3000 converts the target electromagnetic damping into electromagnetic torque and controls the converter to perform the operation.

[0089] In this embodiment, optionally, wave energy flux density is the wave power propagating per unit wave crest width, a key physical quantity for measuring wave energy reaching each device location. In one example, the wave energy flux density of the incident wave is calculated based on the wave height and wave spectral peak period, and the wave energy flux density of the incident wave characterizes the power carried by the incident wave per unit width of the wave crest line.

[0090] It is important to understand that for the devices in the very first row of the array—that is, the row that first encounters the incident wave along the wave propagation direction—the wave energy flux density at its location is equal to the wave energy flux density of the incident wave. For devices not in the very first row, when the wave passes over the devices in front, some of the wave energy is absorbed by the devices in front, and the remaining wave energy continues to propagate forward to the next row. At the same time, the radiation waves generated by the buoyancy of the devices in front and the diffraction waves caused by the structure of the devices will change the spatial distribution of the wave field in the array. By calculating from the first row backward row by row, the wave energy flux density at the location of each device in each row can be obtained.

[0091] Optionally, the preset first logical relationship is: ,in , It is the acceleration due to gravity. This is the wave direction factor. The wave direction factor reflects the angular relationship between the effective wave propagation direction and the array row direction. When the wave direction is parallel to the row direction, =0, The value is 1. For irregular spectra, this formula uses... and An engineering-acceptable approximation can be provided.

[0092] Optionally, the wave energy flux density of the incident wave, i.e., the wave power per unit crest width, can be determined using classical wave theory. The wave energy flux density attenuates after passing through the i-th row of devices, and the magnitude of the attenuation depends on the electromagnetic damping of the i-th row of devices, the ratio of the array row spacing to the wavelength, and the propagation and interference effects of the radiated and diffracted waves.

[0093] Optionally, for each column j, the wave energy flux density of the wave received by the device in the i-th row is defined as J. ij The device in the first row receives all the wave energy of the incident wave; the wave energy flux density received by the device in the (i+1)th row is the energy received in the i-th row minus the energy absorbed in the i-th row, taking into account the propagation effects of radiated / diffracted waves: The physical meanings of each parameter are clearly distinguished as follows: The equivalent extraction ratio of energy from the incident wave flux by device (i,j) is the proportion of energy extracted from the wave field by the device through the float-generator system to the wave energy reaching the device. It is a function of electromagnetic damping, wave height, and wave period, and this parameter only describes the active energy extraction behavior of the device. In one example, the equivalent extraction ratio reaches its maximum value, such as 0.3-0.7, when the electromagnetic damping of the device is at the target electromagnetic damping value. This maximum value depends on the hydrodynamic design of the device itself.

[0094] The inter-row propagation factor is a preset factor that characterizes the combined coefficient of geometric propagation and wavefield redistribution of wave energy from the i-th row to the (i+1)-th row, without considering the extraction effect of the device. It describes the effects of spatial diffusion of radiated waves, diffraction interference, dark water dispersion, and non-uniform wavefield redistribution on energy. Ideally, it is close to 1 but slightly less than 1. where h is the line spacing and h is the water depth. It does not include the device extraction effect, making and The same energy loss will not be deducted repeatedly.

[0095] It should be noted that, and All of these can be obtained in advance via offline methods: It can be calibrated through single-device hydrodynamic simulation or scaled-down model pool tests; It can be obtained through CFD / BEM simulation of upstream-downstream device combination, far-field approximation formula or fitting of historical operating data.

[0096] Optionally, the energy absorption efficiency characterizes the proportion of energy extracted by the wave energy generator from the incident waves at its location, that is, the proportion of energy taken by the device from the wave field through the floating body-generator system to the wave energy reaching the device.

[0097] In one example, there is a mapping relationship between energy absorption efficiency and electromagnetic damping. This mapping relationship can be pre-calibrated through offline hydrodynamic simulation or scaled-down model experiments and stored in the control modules of each device in the form of a lookup table or a fitting function. During online operation, the energy absorption efficiency value under the current operating condition can be obtained by interpolating the current electromagnetic damping value in the lookup table or substituting it into the fitting function.

[0098] Alternatively, in one example, for each device, the wave energy flux density of the wave arriving at the device, the wave-facing width of the device's buoy, the energy absorption efficiency of the device, and the electromechanical conversion efficiency are multiplied to obtain the predicted power generation of the device under the current electromagnetic damping setting.

[0099] Optionally, the total power output of the entire multi-floating body array can be obtained by summing the predicted power output of all devices. It should be noted that since the predicted power output of each device is related to its own electromagnetic damping, and the wave energy flux density of the waves reaching the downstream devices is affected by the energy absorption efficiency of the upstream devices, changes in the electromagnetic damping of any device not only change its own power output, but also affect the wave energy input of the downstream devices by changing its own energy absorption efficiency.

[0100] Optionally, based on the established mapping relationship, with the goal of maximizing the total power generation of the array, the target electromagnetic damping of each device is solved and output under preset constraints.

[0101] In one example, the variable dimension is the total number of devices in the array. A sequential quadratic programming method is used for iterative solution, converging within 3 to 10 iterations. When computational resources are limited, a hierarchical approximation method can be used to accelerate the solution, or the optimal solution under different sea conditions can be pre-calculated and stored as a lookup table, and interpolated based on the current sea condition during online runtime.

[0102] Optionally, the target electromagnetic damping is converted into a torque setpoint for the generator vector controller and sent to the converter. In one example, after receiving the torque setpoint, the converter controller uses it as an input to the current loop and adjusts the generator's q-axis current so that the actual electromagnetic torque tracks the setpoint, thereby achieving the execution of the target electromagnetic damping.

[0103] It should be noted that, in one example, to reduce the mechanical impact on the transmission chain caused by the step change in the target electromagnetic damping, the rate of change of the electromagnetic torque sent to the converter is limited. For example, a maximum rate of change is set, and when the rate of change of the target torque relative to the actual torque exceeds the maximum rate of change, the device transitions to the target operating state using the maximum rate of change as the slope.

[0104] With the above settings, considering the impact of energy absorption by the front row devices on the wave input of the rear row devices, a mapping relationship between electromagnetic damping and total array power was established. Optimization was carried out with the goal of maximizing total array power. The power distribution of each row of the array changed from an unbalanced distribution of "high in the front row and low in the rear row" to a more balanced distribution. Furthermore, the array collaborative control can achieve a higher total power generation compared to independent MPPT control.

[0105] According to some embodiments of this application, optionally, in one embodiment of this application, reference is made to... Figure 8 Based on the electromagnetic damping of the wave energy generation device, the energy absorption efficiency of the wave energy generation device is determined, including: S710. Based on electromagnetic damping, wave energy flux density, and a preset second logic relationship, determine the energy absorption efficiency; S720. When the electromagnetic damping is equal to the preset optimal damping, the energy absorption efficiency reaches its maximum value. S730. When the electromagnetic damping is greater than or less than the preset optimal damping, the energy absorption efficiency decreases. The second logical relationship is: , The wave-facing width of the floating body. For wave excitation force, For electromagnetic damping, The mechanical resistance of the buoy. Wave energy flux density, Energy absorption efficiency.

[0106] In this embodiment, optionally, according to the hydrodynamic theory of wave energy devices, the equation of motion of the floating body under wave excitation is: Where m is the mass of the buoy. For frequency-related additional quality, For radiation damping, k h Let z be the hydrostatic restoring stiffness, and z be the heave displacement of the floating body. For wave excitation force, This is the electromagnetic damping of the device.

[0107] Optionally, the second logical relation is , The formula establishes a quantitative relationship between energy absorption efficiency and electromagnetic damping, where is the wave-facing width of the floating body.

[0108] Optionally, The mechanical impedance of the floating body is the frequency response characteristic of the floating body to the excitation force of waves. Its amplitude and phase determine the amplitude and phase of the floating body's motion.

[0109] Optionally, the above energy absorption efficiency model depends on the hydrodynamic parameters of the specific device, such as... , k h In one example, these parameters can be obtained in advance through CFD simulation or scaled-down model experiments and stored in the array controller as known characteristics of the device.

[0110] In another example, for situations where precise hydrodynamic parameters are unavailable, the following simplified model can be used: ,in This refers to the optimal electromagnetic damping value for a single device under given wave conditions, i.e., the preset optimal damping, which can be obtained, for example, through offline simulation or on-site calibration. This represents the maximum energy absorption efficiency of the device. The simplified formula is derived from the classical relationship between energy absorption efficiency and damping ratio in linear wave theory, and is acceptable in terms of engineering accuracy.

[0111] Optionally, as the electromagnetic damping gradually increases from zero, the amplitude of the buoy's motion first increases and then decreases, and the corresponding energy absorption efficiency also first increases and then decreases.

[0112] Optionally, if the electromagnetic damping is less than the preset optimal damping, the electromagnetic resistance provided by the generator is insufficient, the energy transfer between the floating body and the waves is inadequate, a large amount of wave energy is not extracted, and the energy absorption efficiency gradually decreases as the damping decreases; if the electromagnetic damping is greater than the preset optimal damping, the electromagnetic resistance provided by the generator is too large, the relative motion amplitude between the floating body and the waves decreases, and the energy absorption efficiency gradually decreases as the damping increases.

[0113] By setting the energy absorption efficiency, the electromagnetic damping setting is transformed into the proportion of energy extracted from the waves by the device. This establishes a clear correspondence between the electrical parameter of electromagnetic damping and the physical process of the floating body extracting energy from the waves, thereby improving the accuracy and adaptability of collaborative optimization under different sea conditions.

[0114] According to some embodiments of this application, optionally, in one embodiment of this application, reference is made to... Figure 9 The first row of devices in the S810 multi-floating body array is dynamically determined based on the real-time wave direction: S820. In each control cycle, based on the wave direction, the row of devices in the multi-floating array that first encounters the incident wave along the wave propagation direction is determined as the current first row, and the subsequent row numbers are sequentially increased along the wave propagation direction. S830: If the angle between the wave direction and the array row direction exceeds the preset range, trigger the row and column reorganization of the multi-floating body array.

[0115] In this embodiment, optionally, reference is made to Figure 13 Multi-floating body arrays can be rectangular or irregular arrays.

[0116] In one example, the multi-floating array is a rectangular array with M rows arranged along the wave propagation direction, with row numbers i=1,2,…,M. i=1 is the first row. The N columns are arranged perpendicular to the wave propagation direction, with column numbers j=1,2,…,N. The device (i,j) represents the wave energy generation device located in the i-th row and j-th column.

[0117] It should be noted that, due to the changing wave direction in actual sea areas, such as tidal shifts and seasonal wind field variations, the first row of the array should not be fixed to a geographically specific row of devices. Based on the real-time wave direction, the row of devices in the array that first encounters the incident wave along the wave propagation direction is defined as the current first row, i.e., i=1, and subsequent row numbers i=2,3,…,M increasing sequentially along the wave direction. For rectangular arrays, when the angle between the wave direction and the array row direction is within ±45°, the physical row direction of the array is essentially consistent with the wave direction, and the original row and column numbers can be used directly. When the angle exceeds this range, the system automatically triggers row and column reorganization—reassigning the original "column" direction as a temporary "row" direction, ensuring that the row direction always remains essentially consistent with the wave direction, and guaranteeing that the physical assumption of the shielding effect propagating step-by-step along the row direction always holds true.

[0118] With the above settings, regardless of how the wave direction changes, the row number is always aligned with the actual wave propagation direction, providing a correct row order basis for subsequent in-row and inter-column verification.

[0119] According to some embodiments of this application, optionally, in one embodiment of this application, the hydrodynamic shielding coefficient is obtained by any of the following methods: Online identification is performed using a pre-calibrated occlusion coefficient identification method; or, Pre-calculation and storage are performed using offline hydrodynamic simulation.

[0120] In this embodiment, optionally, by introducing an unshielded reference power function calibrated offline for a single device, the measured power is compared with the reference power under the same control settings, and the proportion of power lost by each device due to upstream shielding effect is calculated in real time. This method can output the shielding coefficient in each control cycle, achieving synchronous updates with the cooperative control cycle, and can adapt to real-time changes in sea state.

[0121] Optionally, before deployment, a hydrodynamic model of the multi-floating array, including all devices, is established using CFD simulation or BEM calculation. In the simulation, typical sea state conditions are set, such as different combinations of significant wave height, spectral peak period, and wave direction, to calculate the hydrodynamic shielding coefficient of each device under different sea states. The calculation results are stored in the array control module's storage unit in the form of a multi-dimensional lookup table, where the dimensions are sea state parameters, such as wave height, period, and direction. During online operation, the control module interpolates the measured incident wave parameters in the lookup table to obtain the shielding coefficient of each device under the current sea state.

[0122] With the above settings, this application can adapt to the deployment requirements of different project conditions, improve the problem that the entire collaborative control method cannot be implemented due to the unavailability of specific shading coefficient acquisition methods, and improve the versatility and engineering adaptability of this method.

[0123] According to some embodiments of this application, optionally, in one embodiment of this application, reference is made to... Figure 10 The interline propagation factor is determined in the following way: S910. The inter-row propagation factor under different wave parameters and device spacing is pre-calibrated through offline numerical simulation and a lookup table is constructed for storage. S920. During operation, monitor the power deviation between the actual total power generation of the multi-floating array and the predicted total power generation. S930. If the power deviation exceeds the second preset threshold for a consecutive preset number of control cycles, the correction of the inter-row propagation factor is triggered. The time interval between two corrections to the interline propagation factor shall not be less than the preset minimum correction interval.

[0124] In this embodiment, optionally, the inter-line propagation factor This describes the effects of spatial diffusion of radiated waves, interference of diffracted waves, dark dispersion in water, and redistribution of non-uniform wave fields on energy. However, since the propagation and interference of radiated waves in the array involve complex Bessel function expansions and infinite series summations, they cannot be solved online in real time. This application adopts two optional simplification strategies.

[0125] Optionally, As an online correction parameter, it is assumed that the wave energy attenuates only due to absorption and that the radiated wave diffuses sufficiently. The initial value is set to 1, and then based on the hydrodynamic shielding coefficient S ij Counter-correction : .

[0126] In one example, the deviation between the actual total array power and the predicted value is calculated. When the deviation triggers a correction condition, such as when the deviation exceeds a second preset threshold for 3-5 consecutive control cycles, the inter-row wave field propagation factor is updated, allowing the model to gradually approximate the actual physical process. To prevent oscillations, a minimum correction interval is set, such as 300 seconds, to reduce frequent adjustments to model parameters during short-term sea state fluctuations.

[0127] Optionally, before deployment, offline CFD / BEM simulations are performed for different sea states and electromagnetic damping settings to establish a four-dimensional lookup table of "sea state-spacing-damping-propagation factor". During online operation, the data is then analyzed based on real-time measurements. , and the current Obtained by table lookup .

[0128] Alternatively, a hybrid approach combining the two strategies described above can be adopted: initially using a lookup table built through offline simulation as the initial value during deployment, and gradually improving the model accuracy through online correction during operation.

[0129] Through the above settings, offline calibration improves the usable accuracy in the early stages of deployment and corrects and compensates for the deviation between the simulation model and the actual sea area online. This self-calibrating closed loop enables the wave field propagation model to automatically adapt to the deployment environment without the need for manual parameter adjustment.

[0130] According to some embodiments of this application, optionally, in one embodiment of this application, reference is made to... Figure 11 Based on wave energy flux density and energy absorption efficiency, the mapping relationship between the predicted total power generation of a multi-floating body array and electromagnetic damping is established, including: S1010. Based on wave energy flux density, energy absorption efficiency, electromechanical conversion efficiency of wave energy power generation device and preset third logic relationship, determine the predicted power generation of the device. S1020. The sum of the predicted power generation of the wave energy power generation devices is taken as the predicted total power generation of the multi-floating array.

[0131] In this embodiment, optionally, the expected power generation of device (i,j) is determined by a preset third logical relationship, which is: ,in Let (i,j) be the wavefront width of the floating body of device (i,j), which is a design parameter of the device. The electromechanical conversion efficiency, which converts mechanical power into electrical power, includes both the transmission chain efficiency and the generator efficiency. In one example, the electromechanical conversion efficiency is between 0.85 and 0.95, with the specific value determined by the device design parameters.

[0132] Optionally, the predicted power generation can be determined through a third logical relation. This represents the theoretical electrical power that the device should generate under the current sea conditions and electromagnetic damping settings. It should be noted that the determination of the predicted power generation depends on the wave energy flux density and energy absorption efficiency, both of which are related to the device's electromagnetic damping. When the electromagnetic damping of a device is adjusted, not only is the predicted power generation of that device affected, but the wave energy flux density of downstream devices will also change, thus affecting the predicted power generation of downstream devices.

[0133] Optionally, by summing the predicted power outputs of all devices, the predicted total power output of the entire multi-floating body array under the current electromagnetic damping distribution scheme can be obtained: Where M is the total number of rows in the multi-floating array and N is the total number of columns in the multi-floating array.

[0134] With the above settings, the predicted power generation of each device is determined based on wave energy flow density, energy absorption efficiency, electromechanical conversion efficiency and preset third logic relationship, so that the predicted power generation has a clear mathematical expression, providing an accurate objective function for subsequent collaborative optimization solution.

[0135] According to some embodiments of this application, optionally, in one embodiment of this application, the preset constraints include at least: The electromagnetic damping of the wave energy generation device is within a preset range; The predicted power generation is less than or equal to the preset power generation. The amplitude of the floating body's motion is less than or equal to the preset amplitude; The wave energy flux density received by the wave energy power generation device in the rear row is less than or equal to the wave energy flux density received by the wave energy power generation device in the front row.

[0136] In this embodiment, optionally, the collaborative optimization aimed at maximizing the total power generation of the array needs to be solved under preset constraints. This embodiment further limits the preset constraints to include at least the following four types of constraints.

[0137] Optionally, electromagnetic damping range constraint: the electromagnetic damping of the wave energy generation device is within a preset range. , It is the minimum equivalent electromagnetic damping that the generator can provide, limited by the minimum excitation current or minimum torque, for example, 10%-20% of the preset optimal damping; The maximum permissible electromagnetic damping is limited by the generator's rated torque and heat dissipation capacity, for example, 150%–200% of the preset optimal damping. This enables the generator to provide basic speed control and power output. Protect generators and converters from overload.

[0138] Optionally, a single unit power limit is set: the predicted power generation is less than or equal to the preset power generation, which is the rated power of the single unit. When the unit's output power exceeds the rated power, it may cause problems such as generator overload and overheating, converter overcurrent protection triggering, and drive train overload fatigue. Long-term operation above the rated power will significantly shorten the equipment's lifespan and may even lead to malfunctions and shutdowns.

[0139] Optionally, the amplitude of the floating body's motion is constrained: the amplitude of the floating body's motion is less than or equal to a preset amplitude. ,in The amplitude of the floating body motion, estimated based on wave conditions and electromagnetic damping, can be obtained by numerically solving the equations of motion. This is the maximum permissible displacement of the float, a preset amplitude, limited by the mechanical structure design, such as the stroke of the hydraulic cylinder and the permissible displacement of the mooring system. This is a safety constraint—too low electromagnetic damping may cause excessive movement of the float, damaging the mechanical structure.

[0140] Optionally, the wave field propagation energy conservation constraint states that the wave energy flux density received by the wave power generation devices in the rear row is less than or equal to the wave energy flux density received by the wave power generation devices in the front row, i.e. This constraint is guaranteed by physical laws and is explicitly added to the optimization model to prevent non-physical solutions caused by model errors.

[0141] Through the above settings, electromagnetic damping range constraints and single-unit power constraints reduce equipment overload damage; floating body motion amplitude constraints ensure that the floating body motion of each device is within safe limits, preventing the front-row devices from exceeding safety boundaries when reducing damping and transferring energy; and wave energy flux density decreasing stepwise constraints ensure that the optimization results conform to the physical law of energy conservation. These four types of constraints work together from different dimensions, ensuring the optimization results have both safety guarantees and physical rationality in engineering implementation.

[0142] According to some embodiments of this application, optionally, in one embodiment of this application, the target electromagnetic damping of multiple wave energy generation devices is obtained by solving under preset constraint conditions, including: The solution can be obtained using sequential quadratic programming or a hierarchical accelerated solution. The hierarchical accelerated solution includes: decoupling the multi-floating body array into multiple sub-problems by column, solving each sub-problem separately, and then merging the results; The target electromagnetic damping is obtained by interpolation based on the sea state using a pre-stored optimal electromagnetic damping lookup table.

[0143] In this embodiment, it should be noted that the optimization problem of this application has the following characteristics: First, the variable dimension is M. N is a suitable dimension for medium-to-large-scale arrays; second, the constraints are linear constraints plus nonlinear coupling constraints; third, the slow dynamic characteristics of wave energy allow for a longer optimization interval and do not require millisecond-level response like power electronic control. Therefore, the sequential quadratic programming method is chosen as the solver.

[0144] Alternatively, for embedded controllers with limited computing resources, a hierarchical approximation acceleration scheme can be used to replace the complete quadratic programming method: taking advantage of the physical property that the intra-column shading effect is much stronger than the inter-column shading effect, M... The N-dimensional optimization is decomposed into N independent column optimization subproblems, and each column is solved in parallel.

[0145] Optionally, for each column j, optimization is performed sequentially from row 1 to row M. The optimization of row i is based on the electromagnetic damping of row i-1, and the wave energy input of row i is determined by the optimization result of row i-1. The potential power of the rear-row device is estimated using a pre-trained value function—which takes the wave energy flux density transmitted to the rear row as input and outputs the total power that the rear-row device can extract from the wave energy. This value function can be pre-obtained through offline neural network training or statistical fitting.

[0146] Optionally, the optimal electromagnetic damping allocation matrix under different sea states and hydrodynamic shielding coefficients can be pre-calculated and stored as a lookup table. During online runtime, the electromagnetic damping setpoint is obtained by interpolation based on the real-time sea state and total shielding coefficient, which is the most lightweight implementation scheme.

[0147] It's important to understand that within the framework of collaborative optimization, the optimizer determines the damping parameters of each device based on real-time identified shading conditions, wave field propagation models, device operating constraints, and the array objective function. Under certain operating conditions, the optimization results may exhibit a differentiated distribution characteristic: upstream devices reduce energy absorption intensity, while downstream devices increase it—but this is not a fixed rule; the specific distribution depends on wave direction, wave period, array layout, and the hydrodynamic coupling strength between devices. This differentiation stems from the fact that the target electromagnetic damping of each device output by the optimizer is determined collaboratively by the same optimization model, rather than being solved independently by each device.

[0148] By defining the above settings, three specific solution methods for the collaborative optimization problem are defined, improving the engineering applicability and flexibility of this application. Furthermore, it enables the front-row devices to proactively yield from "high-efficiency energy absorption" to "moderate energy absorption," and improves the conditions for the rear-row devices from "insufficient energy" to "full utilization." The power distribution of each row of the array changes from an uneven distribution of "high in the front row and low in the back row" to a more balanced distribution, while simultaneously increasing the total power generation.

[0149] According to some embodiments of this application, optionally, in one embodiment of this application, reference is made to... Figure 12 This converts the target electromagnetic damping into electromagnetic torque and controls the converter to perform the following: S3001, Convert the target electromagnetic damping into the generator torque setpoint of the wave energy power generation device; S3002. Limit the rate of change of the generator torque setpoint to ensure that the generator torque setpoint changes to the target value in a manner that does not exceed the preset maximum rate of change. S3003: Send the target value as electromagnetic torque to the converter and control the converter to execute.

[0150] In this embodiment, optionally, when the optimizer provides the target damping value, the control module needs to convert the optimal electromagnetic damping setpoint into the torque setpoint of the generator vector controller and issue it: , This torque setpoint is the engine speed. The current loop of the generator-side converter is used to control the d-axis current to be zero and the q-axis current to be zero. Where p is the number of generator pole pairs, Both are permanent magnet flux linkages and belong to the device design parameters.

[0151] Optionally, to reduce the mechanical impact on the transmission chain caused by the step change in electromagnetic damping, the rate of change of the damping is limited: ,in The maximum permissible rate of torque change is determined by the mechanical design of the transmission chain. When the change in the optimizer output exceeds the maximum permissible rate of torque change, the control module controls the electromagnetic torque to approach the target value with a slope based on the preset maximum permissible rate of change.

[0152] Optionally, after receiving the torque setpoint, the converter controller uses it as a reference input for the current loop and employs a vector control method to adjust the q-axis current component of the generator so that the actual output torque of the generator tracks the received electromagnetic torque.

[0153] By setting the torque setpoint to a rate of change limit, the impact load on transmission chain components such as gearbox, coupling and shaft system caused by sudden torque changes is reduced, mechanical fatigue damage is reduced, and the service life of the equipment is extended.

[0154] This application also proposes a wave energy power generation system, which includes a multi-floating body array; The multi-floating body array includes multiple wave energy generation devices arranged along the wave propagation direction; Wave energy generation devices include a floating body, a generator, a converter, and a control module; The control module is used to perform the hydrodynamic shielding coefficient identification method described above.

[0155] In this embodiment, since the technical solution and its effects of the wave energy power generation system have been described in detail in the description of the hydrodynamic shielding coefficient identification method, those skilled in the art can understand the specific structure and working principle of the system, so it will not be repeated here.

[0156] The above description is merely an exemplary embodiment of this application and does not limit the patent scope of this application. Any equivalent structural transformations made based on the technical concept of this application and the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included within the patent protection scope of this application.

Claims

1. A method for identifying hydrodynamic shielding coefficients, applied to a wave energy power generation system, the wave energy power generation system comprising a multi-floating array, the multi-floating array comprising multiple wave energy power generation devices arranged along the wave propagation direction, each wave energy power generation device comprising a float, a generator, a converter, and a control module, characterized in that, The method for identifying the hydrodynamic shielding coefficient includes: The incident wave parameters, as well as the power generation, rotational speed, and electromagnetic damping of the wave energy generation device, are obtained. The incident wave parameters include the wave height, wave spectrum peak period, and wave direction of the incident wave. Based on the electromagnetic damping, the rotational speed, the incident wave parameters, and the preset power function, the reference power of the wave energy generation device under conditions of no upstream shielding is determined. The value of the electromagnetic damping used to determine the reference power is the same as the value of the electromagnetic damping corresponding to the power generation. The average power of the power generation device within a preset time period is determined based on the power generation output. The hydrodynamic shielding coefficient of the wave energy power generation device is determined based on the ratio of the average power to the reference power.

2. The method for identifying the hydrodynamic shielding coefficient as described in claim 1, characterized in that, The input variables of the preset power function include at least electromagnetic damping, rotational speed, wave height, wave spectrum peak period, wave direction, and device state variables. The device status parameters include the floating body's motion attitude, mooring status, and equipment health. The preset power function is obtained in the following way: In numerical wave pool simulation or scaled-down model test, the wave energy power generation device is simulated or tested under various combinations of electromagnetic damping, wave height, wave spectrum peak period and wave direction. Record the steady-state average power generation under each combination of conditions, and construct a multi-dimensional lookup table with electromagnetic damping, rotational speed and wave parameters as indexes and steady-state average power generation as the value; The preset power function can be obtained by interpolation based on the current operating conditions and by looking up a table.

3. The method for identifying the hydrodynamic shielding coefficient as described in claim 1, characterized in that, The determination of the hydrodynamic shielding coefficient of the wave energy power generation device based on the ratio of the average power to the reference power includes: The normalized power ratio is determined based on the average power, the reference power, and a preset first formula. The hydrodynamic shielding coefficient is determined based on the normalized power ratio and the preset second formula. The first formula is: , The normalized power ratio, The average power, The reference power; The second formula is: , The hydrodynamic shielding coefficient is given.

4. The method for identifying the hydrodynamic shielding coefficient as described in claim 3, characterized in that, If the reference power is lower than the preset minimum power threshold, the hydrodynamic shielding coefficient is not updated and the previous valid value is maintained. The hydrodynamic shielding coefficient is limited between a first preset amplitude and a second preset amplitude; The hydrodynamic shielding coefficient is updated using exponential smoothing filtering.

5. The method for identifying the hydrodynamic shielding coefficient as described in claim 1, characterized in that, The method for identifying the hydrodynamic shielding coefficient also includes: A data quality coefficient is introduced to reflect the reliability of the data for the identification of the hydrodynamic shielding coefficient; The data quality coefficient is determined based on at least one of the following: device operating status, reference power level, sensor signal-to-noise ratio, and sea state estimation confidence level; If the data quality coefficient is higher than a first preset threshold, the hydrodynamic shielding coefficient is allowed for use in downstream applications.

6. The method for identifying the hydrodynamic shielding coefficient as described in claim 1, characterized in that, The first row of the multi-floating body array is determined based on the wave direction. The row of devices that first encounters the incident wave along the wave propagation direction is defined as the first row, and the subsequent row numbers are sequentially increased along the wave direction. If the angle between the wave direction and the array row direction exceeds a preset angle, row and column reorganization is triggered to make the row direction consistent with the wave direction.

7. The method for identifying the hydrodynamic shielding coefficient as described in claim 6, characterized in that, The method for identifying the hydrodynamic shielding coefficient also includes: A wave-direction-dependent lateral verification was performed on the hydrodynamic shielding coefficients of devices in each column within the same row: A lateral baseline is established based on the wave direction, array geometry, and historical statistical characteristics. If the hydrodynamic shielding coefficient of a certain unit exceeds the preset deviation range, it is identified as an anomaly and response measures are triggered. The measures include reducing the data quality coefficient of the wave energy generation device, removing data points from the shading identification, or triggering online correction of the power function.

8. The method for identifying the hydrodynamic shielding coefficient as described in claim 1, characterized in that, If the input parameters of the power function exceed the preset data range, neighborhood interpolation extrapolation with a conservative margin is used, or the system is switched to degraded control mode. The degradation control mode includes independent maximum power point tracking control; After the input parameters are restored to the preset data range, the occlusion coefficient recognition is restored; When the wave energy power generation device is in a state of startup, shutdown, power limitation, fault, or communication abnormality, the update of the hydrodynamic shielding coefficient of the wave energy power generation device shall be suspended and the previous effective value shall be maintained.

9. A wave energy power generation system, characterized in that, The wave energy generation system includes a multi-floating body array; The multi-floating body array includes multiple wave energy generation devices arranged along the wave propagation direction; The wave energy generation device includes a float, a generator, a converter, and a control module; The control module is used to execute the hydrodynamic shielding coefficient identification method as described in any one of claims 1-8.

10. An electronic device comprising a memory and a processor, characterized in that, The memory stores a computer program, and when the processor executes the computer program, it implements the hydrodynamic shielding coefficient identification method as described in any one of claims 1-8.

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