Sailing wind turbine vessel capable of pivoting for efficient and resilient energy production and energy transport

Abstract

The invention describes a wind turbine vessel (1) which autonomously sails at high sea by means of wind turbines (2) and produces, stores and transports energy. The wind turbine vessel (1) is a multi-hull vessel having three or more hulls (3), between which at least one wind turbine (2) is installed. The hulls (3) are installed rotationally symmetrically parallel to the longitudinal axis of the wind turbine vessel (1). This makes it possible for the wind turbine vessel (1) to pivot, that is to say to rotate about its own longitudinal axis, in order to be resilient in the case of sea storms. In the event that it capsizes in strong winds or waves, it retains its complete structural and functional integrity as a result of its rotationally symmetrical design. The wind turbines (2) are used simultaneously in two ways. Firstly, they are used for the production of electrical energy which is stored on board in the hulls (3), for example in batteries or with power-to-hydrogen. Secondly, the wind turbines (2) are used as sails for driving and controlling the wind turbine vessel (1) by means of yawing movements. It can thus sail autonomously at high sea in areas in which the wind conditions are favourable for energy production, that is to say it can use stronger and more uniform winds, and transport the energy stored on board to a location where it can be fed into the energy grid.

Description

[0001] TITLE: Sailing wind turbine vessel capable of pivoting for efficient and resilient energy production and energy transport. FIELD OF APPLICATION: The invention relates to the further development of energy production from offshore wind power and its energy transport using a novel sailing wind turbine vessel. STATUS OF THE ART AND ITS ADVANTAGES AND DISADVANTAGES: The current state of the art for offshore wind energy production is horizontal offshore wind turbines that generate electrical energy and feed it into the onshore power grid via submarine cables. Recently, the use of gas pipelines in combination with Power-to-X technologies instead of power cables has also been investigated and piloted. 1Offshore wind turbines can harness stronger and more consistent winds at sea than onshore wind turbines. Currently installed offshore wind turbines are predominantly fixed-foundation wind turbines, which are attached to the seabed by monopile, jacket, or similar foundations. These are currently limited to coastal waters up to 80 kilometers from the coast and less than 60 meters deep. 2Deeper and more remote locations for fixed-foundation offshore wind turbines increase the technical difficulties and costs and have therefore led to the development of floating platforms for offshore wind turbines, which is particularly relevant for coastal areas without shallow waters. 80% of the world's offshore wind resource potential lies in waters deeper than 60 m, meaning that floating offshore wind energy is required to support offshore wind energy production. 3 to scale further. (Bauer, NREL, 2022) 4 Shows various floating wind turbine concepts with their anchoring in the seabed and connection to dynamic and static power cables. Moored floating offshore wind turbines (VSOW) offer great potential for increasing offshore wind energy production in the near future. Commercial viability is expected between 2025 and 2030. 5Another key advantage is that VSOWs have less negative visual impact than onshore and offshore fixed-foundation wind turbines close to the coast, as they can be installed out of sight further from the coast. h^ps: / / aquaductus-offshore.de Na^onal Renewable Energy Laboratory (NREL), Future of wind, Chapter 2.3 Offshore Wind Outlook to 2050, 2019 Global Wind Energy Council (GWEC), Floa^ng Offshore Wind – A Global Opportunity, 2022 Joshua Bauer, NREL, Offshore Wind Energy: Technology Below the Water, 2022 DNV, Floa^ng Offshore Wind: The Next Five Years, 2022 However, moored floating offshore wind turbines (VSOW) also have the following structural disadvantages: I. LIMITED SCALABILITY – Although VSOW are considered technically feasible up to a water depth of 1,000 m 6 , the maximum depth for commercial viability is currently assumed to be around 200–300 meters water depth 7Given the average ocean depth of 3,800 m, this only addresses a fraction of the offshore wind potential through VSOW. Furthermore, wind speeds are generally higher and more consistent farther from shore. 8 , but cannot be used due to the limitations described above by VSOW. II. HIGH COMPLEXITY / COSTS OF INSTALLATION – Floating platforms, mooring systems, dynamic and static power cables or gas pipelines, and grid connection are complex and material-intensive. Installation requires extensive port infrastructure, and offshore installation results in high complexity and costs, as dedicated offshore installation vessels are required. 4 III. HIGH MAINTENANCE EFFORT / COSTS – Material fatigue, corrosion, and complications from fishing activities lead to additional high maintenance costs / complexity 9, as parts often need to be repaired and replaced. Given the harsh environment of the open sea, floating platforms and wind turbines cannot be fully serviced at sea. To replace larger components, or to avoid the very high costs of often hard-to-reach heavy-lift vessels that could replace components on-site, they must be detached from the moorings and power cables / gas pipelines and towed back to port using special and equally costly offshore installation vessels. 10(so-called "tow-to-shore"). All of these complexities / costs increase with water depth and distance from the coast and therefore contribute to the scalability limitations mentioned above. IV. AERODYNAMIC CHALLENGES – Due to the platform and thus wind turbine movements on the open sea along six degrees of freedom (heave, sway, surge, roll, pitch, and yaw), VSOWs face aerodynamic challenges that can reduce energy production and increase wear and tear. 11. World Bank Energy Sector Management Assistance Program (ESMAP), Offshore Wind Technical Poten^al Analysis, Going Global Report, 2019 Impacts of water depth increase on offshorefloa^ng wind turbine dynamics, Ocean Engineering Volume 224, 2021 Liu et al, Wind power distribu^on over the ocean, Geophysical Research Le^ers, Vol.35, L13808, 2008 Floa^ng Offshore Wind: Market and Technology Review, Carbon Trust, Prepared for the ScoDsh Government, 2015 Opera^on and maintenance forfloa^ng wind turbines: A review, Renewable and Sustainable Energy Reviews Volume 163, July 2022 D. Micallef and A. Rezaeiha, Floa^ng offshore wind turbine aerodynamics: Trends and future challenges, Renewable and Sustainable Energy Reviews Volume 152, V. KOMPLEXITÄT DURCH REGULIERUNG – Dauerhafte Installationen in küstennahen Gewässern erfordern umfangreiche Genehmigungen 12For example, power cables and anchors impact fisheries, tourism, and wildlife, which can raise public concerns that need to be addressed. 13 In addition, lease costs usually have to be paid. In view of these disadvantages, various approaches for free-floating offshore wind turbines have been developed. The following tables describe prior art references that are relevant to this invention in the field of free-floating offshore wind turbines. The tables name the reference, describe the approach with an illustration (if available), and describe its disadvantages, which are mitigated, among other things, by the present invention. Reference (Ref.1) System for propulsion of boats by means of winds and streams and for recovery of energy 14Approach Illustration A wind turbine is installed on a catamaran which mechanically drives a ship's propeller (see Fig.6, state of the art, Ref.1) to propel the catamaran. Disadvantages ^ The system is not designed for energy production. This would be inefficient with the approach chosen here because the rotational energy of the wind turbine is used for mechanical ship propulsion. This would reduce the wind turbine's potential for energy production. The approach of converting the rotational energy for mechanical ship propulsion using a water turbine requires maintenance of the mechanical parts and creates additional material wear, which would further reduce efficiency. ^ There is no dynamic adaptation to the wind turbine movements along the three degrees of freedom (roll, pitch, yaw) caused by sea and wind conditions.It cannot therefore be guaranteed that the wind turbine is optimally aligned into the wind to prevent it from listing due to the wind, as is the case with a sailboat. ^ The high center of gravity due to the turbine being mounted at the top leads to a high risk of capsizing in stormy seas. Table 1 Reference (Ref.1) IRENA and GWEC, Enabling frameworks for offshore wind scaleup: Innova^ons in permiDng, Interna^onal Renewable Energy Agency, Abu Dhabi, 2023 Inside the Global Race to Tap Potent Offshore Wind, IEEE Spectrum, 2023 Vidal Jean Pierre, Patent: System for propulsion of boats by means of winds and streams and for recovery of energy US4371346A, 1983 Reference (Ref.2) Dynamically positioned floating offshore wind turbine concept. 15Approach Illustration A wind turbine is installed on a floating platform. See Fig.7 State of the art Ref.2 Unlike a conventional floating offshore wind turbine, it has no moorings. Instead, underwater propellers are used to keep the wind turbine stationary. The floating wind turbine is also optionally equipped with an integrated energy storage system. Disadvantages ^ The underwater propellers consume electricity to prevent the turbine from drifting in the wind and / or current direction, which reduces net energy production (see also Xu et al. 16, which show that approximately 50%-80% of the energy production is consumed to maintain the stationary position). ^ The stationary approach complicates access to more remote offshore areas with higher wind speeds that change dynamically due to weather developments. ^ The design does not take into account stability aspects for coping with rough sea conditions and adaptation to the three degrees of freedom (roll, pitch, yaw) caused by sea and wind conditions. Table 2 Reference (Ref.2) R. Alwan et al., Investment of a dynamically positioned floating oshore wind turbine concept, 2018 16 Xu, S., Murai, M., Wang, Free-floating wind turbine invention and autonomous open-ocean wind farm concept 17Approach Illustration Free-floating offshore wind turbine for deep waters, which uses a large underwater propeller to maintain its position and move as needed, while two small propellers rotate the unit. See Fig.8 State of the art Ref.3 Disadvantages ^ The approach has the same disadvantages as described in (Ref.2). ^ The proposed further development of this concept to link several of these free-floating wind turbines into a floating wind farm cannot significantly eliminate the above-mentioned disadvantages. Tugboats at each corner of the wind farm are assumed to keep the tethered wind turbines at a distance from each other and pull them to target positions, which in turn consumes additional energy. Table 3 Reference (Ref.3) Jack H Raisanen et al., Unmoored: a free-floating wind turbine inven^on and autonomous open-ocean wind farm concept, EERA DeepWind Offshore Wind R&D Conference, 2022 Reference (Ref.4) Autonomous Vessel Robot AI System. 18 Approach Illustration Describes a vessel capable of continuous autonomous operation at sea using only renewable energy. Uses computers, sensors, navigation equipment, terrestrial radio and satellite communications, mechanical, electrical and hydraulic actuators, and a multi-hull design for course keeping and navigation on the high seas. Disadvantages ^ It describes only a system for autonomous navigation, not a system for energy production. Table 4 Reference (Ref.4) Nelson James Kruschandl, Patent: Autonomous Vessel Robot AI System GB251173, 2013 Reference (Ref.5) Innovative Autonomously-Driven Offshore Wind Turbines: a prefeasibility analysis 19Approach Illustration Autonomously driven offshore wind turbine vessel based on a hydrodynamic floating platform (a catamaran) with an underwater propeller for ship propulsion and an energy storage system. See Fig. 9 State of the art Ref. 5 Disadvantages ^ It consumes energy to drive the water propeller, which reduces net energy production. ^ The high center of gravity due to the high-mounted wind turbine is associated with a high risk of capsizing in stormy seas. Table 5 Reference (Ref. 5) Xavier Mar^nez Beseler, Innova^ve Autonomously-Driven Offshore Wind Turbines: a prefeasibility analysis, DTU Department of Electrical Engineering, 2019 Reference (Ref. 6) Wind Trawler: operation of a wind energy system in the far offshore environment 20Approach Illustration Mobile floating wind and water turbine with a streamlined hull with a single mounted wind turbine and two mounted underwater hydrokinetic turbines (see Fig. 10). State of the art Ref. 6. Combined with a hydrogen synthesis and storage system within the substructure. Disadvantages ^ The approach causes high complexity / cost for the installation of wind and water turbines for energy generation and water propellers for propulsion. ^ Similar to (Ref. 5), the water propeller-based propulsion system consumes energy, which reduces the net energy production. ^ The high center of gravity due to the high-mounted wind turbine leads to a high risk of capsizing in stormy seas. Table 6 Reference (Ref. 6) Annan, AM, Lackner, MA, and Manwell, JF: Wind Trawler: operation of a wind energy system in the far offshore environment, J. Phys.-Conf. Ser., 1452, 012031, 2020 Reference (Ref.7) Exploitation of the far-offshore wind energy resource by fleets of energy ships. 21Approach Illustration Autonomously sailing on the high seas, energy vessel using Flettner rotors as wind propulsion (see Fig.11 State of the art Ref.7). Water turbines mounted beneath its hull generate electricity. On-board Power-to-X systems are used to store the generated energy. Disadvantages ^ The described energy generation has efficiency disadvantages, as wind energy must first be converted into kinetic energy for the vessel's propulsion, which is then converted into electrical energy using water turbines. ^ The presented approach requires Betz's law to be applied twice instead of once. ^ The maximum power that can be extracted from the wind to generate energy must be applied twice instead of the one-time factor 16 / 27 of the Betz coefficient. Once when extracting energy from the wind and a second time when extracting energy from the relative water flow below the energy vessel with the water turbines.Tabelle 7 Referenz (Ref.7) Aurélien Babarit et al, Exploita^on of the far-offshore wind energy resource byfleets of energy ships – Part 1: Energy ship design and performance and Part 2 Updated ship design and cost of energy es^mate, 2020, 2021 Referenz (Ref.8) Multi-objective optimization for an autonomous unmoored offshore wind energy system substructure. 22Approach Illustration Optimized hull structure for the Wind Trawler concept mentioned in (Ref.6) no figure available. Trimaran hull design (primary hull and two symmetrically equivalent booms) optimized with Multi-Objective Optimization (MOO) for bimodal operation as an energy producer and energy transporter with regard to opposing geometric longitudinal and transverse characteristics. Disadvantages ^ The geometric parameters of the hull design, which affect both energy production and capital expenditure (in terms of structural steel mass), are optimized. However, the fundamental disadvantages mentioned in (Ref.6) remain. Table 8 Reference (Ref.8) Additional relevant references are cited in the following publications: ^ “Counterintuitive Performance of Land and Sea Yachts” by Kirk T. McDonald 23, provides a historical overview of wind-powered propeller yachts. ^ “Comparison of optimal power production and operation of unmoored floating offshore wind turbines and energy ships” by P. Connolly and C. Crawford 24 provides a comparison between some of the references described above. Annan, AM, Lackner, MA, and Manwell, JF: Multi-objective op^miza^on for an autonomous unmoored offshore wind energy system substructure, J. of Applied Energy, Volume 344, 121264, 2023. Kirk T. McDonald, Counterintui^ve Performance of Land and Sea Yachts, Joseph Henry Laboratories, Princeton University, Princeton, New Jersey 08544, 2021 24Connolly and C. Crawford, Comparison of optimal power production and operation of unmoored floa^ng offshore wind turbines and energy ships, Wind Energy Science, Ar^cles Volume 8, Issue 5 WES, 8, 725–746, 2023 OBJECT OF THE INVENTION The overall objective of the present invention is to overcome the above-described disadvantages and other disadvantages of the prior art for the production and transport of offshore wind energy. The goal is to design a better solution that ultimately improves efficiency, i.e., increases the energy production of offshore wind turbines and / or reduces costs. This overall objective can be divided into the following sub-objectives, which the sailing wind turbine ship (1) presented here is intended to achieve: I. Increasing the energy production of offshore wind turbines a) Increasing the energy production for a given wind capacity b) Scaling the energy production by increasing the addressable wind capacity II.Reducing the costs of offshore wind energy production and transport a) Reducing manufacturing and installation costs b) Reducing costs during energy production c) Reducing energy transport costs The ADVANTAGES OF THE INVENTION section refers to these objectives and describes how they are achieved by the sailing wind turbine vessel (1) presented here, capable of pivoting for efficient and resilient energy production and transport. Resilience is considered part of reducing the costs of energy production and replacement new construction and installation, as resilience reduces damage, repair, and replacement costs.

[0002] DESCRIPTION OF THE INVENTION The present invention describes a sailing wind turbine vessel (1) capable of pivoting for efficient and resilient energy production and transport. The drawings Fig. 1, Fig. 2, Fig. 3, Fig. 4 and Fig. 5 represent the invention as a whole. The devices and methods characterizing the invention are described in detail below in 8 sections. 1. Rotationally symmetrical multi-hull vessel architecture for pivoting capability 2. Sailing mechanism with control of wind turbine orientation to the wind and hulls 3. Elastic mounting of the sailing wind turbines with free rotor space for pivoting capability 4. Active ball joint control for yaw, roll, and pitch of the wind turbines 5. Oscillating blade adjustment during rotor rotation for yaw optimization 6. Onboard energy storage with hybrid electromechanical energy management system 7.Floodable hulls for intentional pivoting of the wind turbine vessel and underwater protection 8. Additional hull improvements 8.1. Fins to reduce drift and improve tacking and close-hauled sailing 8.2. Hull extensions with wind funnel effect 8.3. Hull shapes for pivoting capability.

[0003] . Rotationally symmetric multi-hull ship architecture for pivoting capability The architecture of the wind turbine ship (1) comprises at least three hulls (3) installed rotationally symmetrically along the longitudinal axis of the wind turbine ship (1). Fig. 12 shows three options with three to five hulls (3). Beyond these three options, the rotationally symmetric multi-hull ship architecture can be realized with any number of hulls (3) and any number of hulls (3) can be floating on the water at the same time. The rotationally symmetric architecture allows the wind turbine ship (1) to pivot around its own longitudinal axis when affected by strong winds or waves during sea storms. This means that the wind turbine ship (1) can capsize while retaining its full structural and functional integrity thanks to the rotationally symmetric design.The ability to pivot enables a lightweight design of the wind turbine vessel (1), as no constructive countermeasures against capsizing in the event of sea storms, strong gusts of wind or so-called “monster waves” or other harsh weather conditions need to be taken into account. Fig. 13 shows the pivoting mechanism of the wind turbine vessel (1) in four steps, starting from strong wind or wave action. All installations on the wind turbine vessel (1) must take into account the ability to pivot and thus ensure functionality in any orientation around the longitudinal axis of the wind turbine vessel (1). The devices and methods presented in the following sections take this requirement into account. . Sailing mechanism with control of the wind turbine orientation to the wind and hulls The wind turbine (2) can be flexibly positioned in the wind. The rotation axis can have different yaw angles. 25relative to the wind direction, e.g. from ^ > -90° to ^ < 90°, depending on the wind conditions and the navigation goal or the necessary sailing course, as shown in Fig.14. The direction of the ship's hull (3) can also be flexibly turned into or against the wind, similar to a sailboat (SB). This combination of orientation of the wind turbine (2) and the hull (3) to the wind enables the ship (1) to sail various courses, including tacking against the wind. The sailing mechanism presented here uses the wind forces generated by the aerodynamic properties of currently prevalent horizontal axis wind turbines (HAWT) with vane-shaped rotor blades (6) in combination with suitable yaw positions. Vane-shaped rotor blades (6) generate lift and drag as the wind turbine (2) rotates.They play a key role in improving the aerodynamic performance and structural durability of the rotor blades. 26 . Fig. 15 27shows how a lift force (A) generated by the rotating wing-shaped rotor blades (6) is decomposed. The lift force (A) is decomposed into a torque (D) and a thrust force (S). The torque (D) rotates the rotor and generates electrical energy by means of the generator in the wind turbine (2). The thrust force (S) points leeward along the rotation axis of the wind turbine (2), perpendicular to the rotor plane. In a typical stationary wind turbine, this thrust force (S) is absorbed by the tower of the wind turbine and generates a reaction force R(dr) in Fig.15. In the invention presented here, this thrust force (S) is used to push the ship hulls (3), which are structurally connected to the wind turbine (2), to leeward in the water. Due to the water resistance on the leeward side of the hull (3), the ship therefore moves forward through a vector force decomposition, as described below.The wind turbine ship (1) uses this thrust (S) to sail, similar to the lift force (FAS) that a curved sail creates in the wind. This lift force (FAS), together with a drag force (F WS ) on the keel or side line of the sailboat hull to a forward force (F VS ) of the sailboat (SB), as shown in Fig.16. Fig.17 shows the sailing mechanism for the wind turbine ship (1), which sails the same course as the sailboat (SB) shown in Fig.16. The thrust force (S) perpendicular to the rotor plane, as described in Fig.15, is converted into the drag force (F WW ) and the resulting forward force (F WV) of the wind turbine ship (1), which points in the desired direction of movement. The distance between the wind turbines (2) is large enough to compensate for wake losses between the wind turbines (2). Further explanations of this sailing mechanism and the sail control of the wind turbine ship (1) for various sailing courses, including upwind courses for tacking against the wind, are described in the EXAMPLES OF WORKING INSTRUCTIONS. The sailing mechanism is controlled by two controls: Firstly, the wind turbines (2) are flexibly rotated into the wind. The rotation axis can have different yaw angles relative to the wind direction, as described in Fig. 14. The control of the yaw angles can be realized with a ball joint (8), as shown in section 4, or alternative means. Secondly, the orientation of the hulls is controlled either with a classic rudder, which is attached, for example, to the stern of the hulls (3).Alternatively, to avoid the need for a rudder, which increases complexity and cost, yaw control of the rear and front turbines is used. By varying the yaw angles of the turbine (2.H) (steering rear) or the front turbine (2.V) (steering front), a steering movement of the wind turbine vessel (1) results. Fig. 18 shows the steering of a starboard turn, in which the rear turbine (2.H) is steered parallel to the longitudinal axis of the wind turbine vessel (1), as well as the steering of a port turn, in which the front turbine (2.V) is steered parallel to the longitudinal axis of the wind turbine vessel (1).Instead of controlling the yaw angle of the wind turbines (2) differently, the same effect can be achieved by aerodynamically braking the wind turbines (2) by changing the rotor blade setting or by mechanically braking the wind turbines (2) on the rotor shaft. The braked wind turbines (2) generate a lower lift force (A) and therefore also a lower thrust force (S). Due to the relatively lower lateral force at the stern (port turn) or at the front (starboard turn), the hulls (1) rotate around the center of the wind turbine ship (1) in the desired direction of movement. The invention of the sailing mechanism with wind turbines (2) presented here is derived from the sailing concept of sailboats (SB), but it is not the same concept but a further development. ^ In the sailing mechanism of a sailboat (SB), the conversion of wind energy into kinetic energy, which moves the sailboat (SB), occurs more directly.The wind flows around the curved sail (step 1) and creates lift (step 2). This lift force (F AS) together with the drift drag force (FWS) of the sailboat results in the forward force (FVS) (step 3). ^ In the sail mechanism of the wind turbine ship (1) it is more indirect and requires an additional energy conversion step. The wind flows around the rotor blades (6) (step 1) and creates a lift on the upper side of the wing-shaped rotor blade (6) (step 2). This lift force (L) is decomposed into a thrust force (S) perpendicular to the rotor plane and a torque (D) (see Fig. 15) (step 3). The thrust force (S) pushes the wind turbine (2) along the rotation axis in the leeward direction (see Fig. 17). This thrust force (S) is used like the lift force (FAS) on the sail of the sailboat (SB), which is decomposed and results in a forward force (FFV) of the wind turbine ship (1). This last step refers to (step 3) of the sailing mechanism of the sailboat (SB) and corresponds to (step 4) of the sailing mechanism of the wind turbine ship (1).Therefore, an additional step, i.e., an additional force decomposition as shown in the flowchart in Fig. 19, is required for the sailing mechanism of the wind turbine vessel (1) presented here. While the rotation of the wind turbine (2) is used to propel the wind turbine vessel (1) as described above, the rotation of the wind turbine (2) simultaneously generates electrical energy. However, with increasing yaw angle, which is a fundamental feature of the above-mentioned mechanism, the conversion of kinetic wind energy into electrical energy is reduced. The reduction of the rotor area facing the wind and aerodynamic effects such as dynamic stall at the rotor blades affect the power output. These effects have been intensively investigated for onshore and offshore wind turbines. 28. The reduction in the conversion of kinetic wind energy into electrical power of the wind turbine (2) (also called power coefficient CP 25 ) is in the range of 80 % to 100 % of CPmax (ie maximum power coefficient at ^ = 0°) in the yaw angle range of ^ > -30° to ^ < 30 29 This yaw angle range is sufficient for the sailing maneuvers described above (see also the EXAMPLES section). Only at yaw angles greater than 45° does the power generated by the wind turbines drop by half. 29 , as shown in Fig. 20 29shown. The x-axis indicates the yaw angle. The y-axis shows the power coefficient (left side) and the output power in watts (right side). Daniel Micallef and Tonio Sant, Wind Turbines, - Design, Control and Applications, Chapter 2: Review of Wind Turbine Yaw Aerodynamics, Intech Open, 2016 Husaru et al, Effect of yaw angle on the global performances of Horizontal Axis Wind Turbine - QBlade simulation, 2019 IOP Conf. Ser.: Mater. Sci. Eng.595012047 Elastic mounting of sailing wind turbines with free rotor space for pivoting capability Adjusting the yaw angle and the desired sailing course is essential for the sailing mechanism of the wind turbine ship (1) as described in Section 2. In order for the wind turbines (2) to continue to rotate freely at various yaw angles ^ > -90° to ^ < 90°, a bracket (4) is required that does not block the rotor blades (6) when rotating at any yaw angle.In a typical stationary wind turbine, the tower of the wind turbine is perpendicular to the rotor axis. In a stationary setup, this type of mounting allows the wind turbine (2) to rotate without blocking at any yaw angle. However, due to the rotationally symmetrical multi-hull construction, the invention presented here requires a different mount (4) for the pivoting capability, as presented in Section 1. After pivoting about the longitudinal axis of the wind turbine vessel (1), the rotor blades (6) must still be able to rotate freely at any yaw angle and must not be blocked by the mount (4). Mounting the wind turbine on a tower (T) or similar mount perpendicular to the rotor axis would block the rotor, as shown in Fig. 21 (not part of this invention). The mount (4) must provide a clearance (FR) for the rotation of the rotor blades after each pivoting of the wind turbine vessel (1).In this free rotor space (FR), no brackets (4) for the wind turbines (2) can be mounted. Fig. 22 shows this free rotor space (FR) marked as a hatched area in a two-dimensional view from above. The free rotor space (FR) is defined by the maximum yaw angles. When the wind turbine vessel (1) pivots around the longitudinal axis, the cross-sectional area of ​​(FR), as shown in Fig. 22, forms a solid of revolution, which is a sphere (K) hollowed out on two sides by two embedded cones (EK) (see right in Fig. 22). To obtain the free rotor space (FR), the brackets (4) must first follow the direction along the rotor axis at yaw angle = 0°, in this case equal to the longitudinal axis of the wind turbine vessel (1), before the brackets (4) can run perpendicular to the rotor axis.In the latter direction, the brackets (4) must finally be structurally connected to the hulls (3) to ensure functional statics of the wind turbine ship (1) with the wind turbines (2). Fig. 23 shows various ways of maintaining the free rotor space (FR) by first connecting the bracket (4) to the hulls (3) in the direction along the rotor axis and only behind the free rotor space (FS) to the rotor axis. The invention presented here focuses on elastically bent brackets (4). Elastically bent or deformed materials such as metals deform when compressed, pulled, and twisted and can return to their original shape after the external forces and pressures that caused the deformation cease. 30 Most materials have a certain amount of force or pressure that causes them to deform elastically. If more force or pressure is applied, plastic deformation occurs.31 For this reason, the supports (4) presented in this invention are elastically bent or deformed, so that they also function as a spring that stores elastic potential energy. This energy is also referred to as elastic free energy. 32 , which generates a restoring force (FR) against the deformation. Fig. 24 shows various possibilities of elastically bent mounts (4). The present invention encompasses these options and those elastically bent mounts (4) of wind turbines (2) in which the restoring force (F R ) acts perpendicularly away from the longitudinal axis of the wind turbine vessel (1) and is not limited to the options shown in Fig. 24. The restoring forces (FR) act perpendicularly away from the longitudinal axis and thus push the hulls (3) outwards, ie the restoring forces (FR) act as expanding forces on the architecture of the hulls (3). Conversely, the contracting forces (FK ) of the shrouds (5) pulls the hulls (3) together. Overall, the two forces (FK) and (FR) act in opposite directions. The contracting forces (F K ) and the restoring forces (F R) thus the wind turbine (2) and ensure stable statics. At the same time, they ensure an elastic mounting (4) for the wind turbines (2), which contributes to the stability and resilience of the wind turbine ship (1), since both the wind turbines (2) and the hulls (3) are spring-mounted. How the wind turbines (2) are connected to the mountings (4) described above is described in the next section 4. . Active ball joint control for yaw, roll and pitch of the wind turbine (2) Fig. 25 shows the roll movement of the wind turbine (2) around the longitudinal X-axis of the wind turbine ship (1), the pitch movement around the transverse Y-axis and the yaw movement around the vertical Z-axis. The yaw movement of the wind turbine (2) has already been described in section 2 and how the yaw angle control is used for the sail mechanism of the wind turbine ship (1).In addition, the yaw motion of the wind turbine (2) is also influenced by the yaw motion of the wind turbine vessel (1), which in turn is influenced by the sea and wind conditions, e.g., by waves, currents, gusts of wind, or varying wind strengths at different altitudes (so-called wind shear). Similarly, the roll and pitch motions of the wind turbine (2) are also influenced by the roll and pitch motions of the wind turbine vessel (1), which in turn are influenced by the sea and wind conditions. This also includes the heeling of the ship (1), RD Knight, "Elas^city," in Physics for Scien^sts and Engineers: A Strategic Approach, 2nd ed., USA: Pearson Addison-Wesley, 2008, pp.278 Hawkes et al, "Deforma^on and Elas^city," in Physics for Scien^sts and Engineers, 1st ed. Toronto: Cengage, 2014, pp.265-268. PM Chaikin and TCLubensky, Principles of Condensed Mass Physics, Chapter 6: Generalized Elasticity, Cambridge University Press, 1995, essentially a prolonged rolling motion of the wind turbine ship (1), which is caused by the wind force acting on the sails or, in this case, the wind turbines (2). All of this can have a negative impact on the wind flow through the rotor plane of the wind turbine (2) and thus on energy production. Uncontrolled rolling, pitching, and yawing movements of the wind turbine (2) reduce the rotor area facing the wind and change the wind flows on the wing-shaped rotor blades. This reduces the power output, as already described in Fig. 20 with regard to the yaw angle, and the analogous effect must also be taken into account for the rolling and pitching movements. For this reason, the present invention comprises a control of the rolling, pitching, and yawing movements of the wind turbine (2) by means of an active ball joint (8).On the one hand, the active ball joint (8) is used to control the yaw angle of the wind turbine (2) for the sailing mechanism of the wind turbine ship (1). On the other hand, the active ball joint (8) is used to counteract and neutralize the roll, pitch, and yaw movements of the wind turbine (2) caused by sea and wind conditions. Fig. 26 shows the three-axis control of the active ball joint (8), including roll, pitch, and yaw. Fig. 27 shows one horizontal and two vertical installation options for the active ball joints (8) and how they are structurally connected to the wind turbine (2). The horizontal ball joint installation offers an axisymmetric, lightweight solution. However, it requires a strong active ball joint torque to hold heavy wind turbines (2). The vertical active ball joint installation provides more favorable statics.However, a rotation motor (7) is required as an additional element. The rotation motor (7), e.g. electrically, hydraulically or otherwise, rotates the active ball joint (8) together with the installed wind turbine (2) around the longitudinal axis of the wind turbine vessel (1). This allows the wind turbine (2) to be returned to this downward-hanging position after the wind turbine vessel (1) has been pivoted. This option has more favorable statics, as the wind turbine (2) can be fixed at its center of mass, thereby reducing the forces acting on the active ball joint (8). If it is technically more advantageous for the functioning of the active ball joint (8), the wind turbine (2) can also be installed upright on the active ball joint (8) in the same way. This means that by rotating the vertical active ball joint (8) 180°, gravity pushes the ball head into the ball joint housing, see right side of Fig. 27.The active ball joint can be built and controlled electromechanically, as described in IEEE Transactions of Robotics. 33 Another gimbal implementation of the active ball joint (8), here called spherical parallel joint, is described in (Skyentific, 2023) 34 Other alternative technical designs are active magnetic ball joints. Active magnetic ball joints operate smoothly and are maintenance-free. 35However, their energy consumption for the active generation of electromagnetic fields must be considered in comparison to the improved performance of the wind turbines (2), which is achieved by neutralizing the externally induced roll, pitch, and yaw movements. Other possible technical embodiments for controlling the three-axis movements are: three-axis gimbals with mechanical bearings or active magnetic bearings, combined pan and tilt units, Stewart platforms or so-called hexapods on a turntable, or artificial muscle-based ball joints. 36or another functionally equivalent three-axis control. K. Abe, K. Tadakuma and R. Tadakuma, "ABENICS: Ac^ve Ball Joint Mechanism with Three-DoF Based on Spherical Gear Meshings," in IEEE Transac^ons on Robo^cs, vol.37, no.5, pp.1806-1825, 2021 and patent applica^on JP2023038119Afilled in 2021 www.skyen^fic.com, Spherical Parallel Joint (stepper motors, 3DoF), 2023 Fang Zhang et al., Electromagne^c Driving Modal and Control of Magne^c Levita^on Spherical Ac^ve Joint, 3rd Annual Interna^onal Conference on Mechanics and Mechanical, 2017 L. Grunert, Patent Disclosure Note: Controllable Ball Joint, DE 102008037930 A1, DPMA, 2010 . Oscillating blade pitch angle during rotor rotation for yaw optimization As described in section 2, the yaw manipulation of the wind turbine (2) is of fundamental importance for the sail mechanism of the wind turbine (2).However, as described, the torque of the wind turbine (2) and thus the power output decreases with increasing yaw angle (see Fig. 20). For this reason, the present invention has a mechanism for oscillating blade adjustment during rotor rotation in order to optimize the wind angle at the rotor blades (6) when the turbine (2) is in yaw position. It is state of the art to adjust the blade pitch depending on wind conditions. The novelty and key element of this part of the invention is that the blade pitch of the rotor blade (6) is adjusted back and forth in an oscillating motion, not just occasionally when the ambient wind conditions change, but continuously during each rotor rotation.This optimizes the wind flow around the rotor blades (6), since the yaw angle acts differently on the rotor blades (6) when the wind turbine (2) yaws, depending on their rotational position. Fig. 28 shows the wind turbine (2) at yaw angle ^ and its rotor blades (6) in various rotational positions. The left-hand side shows the view from above, with the true wind coming at an angle from the side with yaw angle ^. The right-hand side shows a rotor blade (6) in four rotational positions (0°, 90°, 180°, 270°). The true wind direction is from the observer's perspective and is directed perpendicular to the plane of the drawing (here also the rotor plane) with a yaw deviation to the right of the rotor axis. Four cross-sections QS0°, QS90°, QS180° and QS270° are marked. The drawings Fig.29 to Fig.32 show the wind triangle vector diagrams at these cross sections.It can be seen that the optimal blade pitch angle ^ is different at each rotation position in order to optimize the streamlined wind flow around the airfoil-shaped rotor blades (6). This improves the lift of the rotor blade (6) as well as the generation of torque and thrust. The angle of attack "α" remains the same as it is fixed by the design of the airfoil-shaped profile of the rotor blade (6). The different blade pitch angles ^0°, ^90°, ^180° and ^270° for the four rotation positions (0°, 90°, 180°, 270°) of the rotor blade (6) and corresponding blade pitch angles for all rotor positions in between define the oscillating blade pitch angle during rotor rotation for optimization during yaw. Fig. 29 shows the wind triangle vector diagram at the rotor blade (6) in cross section QS0° at 0° rotation. The difference to the classic wind triangle diagram of a horizontal wind turbine with a wing-shaped rotor blade profile (as in textbooks, for example). 37shown) is that the true wind direction comes from an angle ^ and the wind turbine (2) is thus in yaw position. The vector decomposition results in an inflow velocity w 0° , which results in a smaller blade pitch angle ^0° than in an equivalent scenario without yaw position with frontal wind. ^ 0° can be calculated as follows using equation G1 0° : − α G10° is based on G20°, G30° and G40° as follows: Equation G20°: α + β0° = χ^° ^ β0° = χ^° − αEquation Equation G40°: w^^^⃑ 0°= v^⃑ 0° + ^ u⃑Fig. 30 shows the wind triangle on the rotor blade (6) in cross-section QS90° at 90° rotation. Fig. 30 includes a 3D orientation aid that visualizes the direction of the true wind in this 90° rotation position of the rotor blade (6). To determine the inflow velocity w 90°which are based on the optimal blade pitch angle of the rotor blade (6) ^ 90° is a projection of the true wind speed v 90° on the rotor axis is required. Only this projected component influences the blade pitch angle ^ 90° , since the remaining component runs parallel to the longitudinal axis of the rotor blade (6) and thus cannot influence the blade setting regardless of the length of this component. ^ 90° can be calculated as follows using equation G1 90° : G1 90° based on G2 90° , G3 90° , G4 90° and G5 90° as follows: G leichung equation Equation G490°: w^^^⃑ 90° = p^⃑ 90° + u^⃑Equation G590°: p^⃑ 90° = e^⃑ ^ ⋅ cos^γ^ ⋅ |v^⃑ 90°|, era = unit vector parallel to the rotor axis (reference wind direction). Fig. 31 shows the wind triangle vector diagram at the rotor blade cross-section QS180° at 180° rotation. It is already visually apparent that ^180° is larger than ^0°. The section "WORKING EXAMPLES" shows corresponding calculations and confirms this. ^ 180° can be calculated as follows using equation G1 180° : β 180° = − α G1 180° based on G2 180° , G3 180° and G4 180° as follows: G leichung equation Equation G4180°: w^^⃑180° = v^⃑ 180° + u^⃑Fig. 32 shows the wind triangle vector diagram at the rotor blade cross-section QS270° at 270° rotation. Again, a projection, here p270°, is required to derive the wind vector that influences the optimal blade pitch angle (6). ^270° can be calculated as follows using the equation E1270°: β 270° = Equation G4270°: w^^⃑'(0°= p^⃑ '(0° + ^ u⃑Equation G5270°: p^⃑ '(0°=e^⃑ ^ ⋅ cos^γ^ ⋅ |v^⃑ '(0°|, era = unit vector parallel to the rotor axis (direction of reference wind) The generalized calculation equation for each rotation angle ϱ of the rotor blade (6) for ^ ϱ is defined by, the true wind speed v ϱ , which is projected on the one hand onto the rotor axis (direction of reference wind) to obtain pϱ, and on the other hand onto an arbitrary parallel to the peripheral speed u in order to obtain an extension of the peripheral speed u +to obtain. Vector addition of pϱ + u + u+ gives the approach velocity wϱ. The angle between u and wϱ gives ^ϱ and then ^ϱ by subtracting the angle of attack ^. In addition, the approach velocity is influenced by the relative airstream caused by the forward motion of the wind turbine ship (1). This relative airstream vector can also be used to calculate the adjustment of the blade pitch angle ^ϱ. Calculations for the blade pitch angle ^ϱ at different rotation angles ϱ can be found in the EXAMPLES section. It can be seen that ^0° = ^Min. and ^180° = ^Max. with ^0° < ^90° < ^180° > ^270° > ^0° and accordingly for all rotation angles between the four described cases. Fig.33 shows this pattern in a qualitative oscillation diagram with the rotation angle of the rotor blade (6) on the horizontal x-axis and the set blade pitch angle ^ on the vertical y-axis.Typically, the aerodynamic optimization of wind turbines attempts to eliminate and avoid any type of oscillating vibrations, as these typically increase vibration forces and thus material fatigue. However, this is a countermeasure to neutralize or at least reduce an otherwise oscillating effect caused by the changing wind flow conditions during rotor rotation when the wind turbine (2) is in yaw position. The above describes the setting of the optimal blade pitch angle for wind speeds up to the rated wind speed for which a specific wind turbine (2) is designed. At higher wind speeds, it is state of the art to change the blade pitch angle in order to control or reduce the power transferred from the wind to the generator at higher rated wind speeds.The same mechanism can also be applied accordingly with the mechanism presented here for controlling oscillating blade pitch angles during rotor rotation for optimizing yaw. For technical feasibility, state-of-the-art wind sensors can be used and the blade pitch angle can be changed by motors, so-called pitch actuators. An extension of the mechanism for oscillating blade pitch described above consists in dynamically oscillating the twist of the rotor blades (6) during rotor rotation. The exact dynamic twist angle can be calculated in the same way as above for the blade pitch angle of the rotor blade (6). Technically, this extension can be implemented, for example, using flexible rotor blades (6) and dynamic adjustment of the twist angle at individual cross-sections using electric servos or other actuators.Onboard energy storage with a hybrid electromechanical energy management system. The energy generated by the wind turbines (2) is stored onboard the wind turbine vessel (1). The energy storage is housed inside the hulls (3). The energy storage technology can be electric batteries or any liquid-, gas-, or solid-based energy storage system, e.g., fuels such as hydrogen, methanol, or ammonia. For the energy storage system, the core element of this part of the invention is to directly utilize the mechanical energy available in the drive train (9) of the wind turbine (2) for specific process steps of the electromechanical energy management.Instead of using part of the electrical energy generated by the wind turbines (2) for certain process steps of the energy management system that require mechanical energy, the mechanical energy provided by the wind turbine (2) on the drive train (9) is used directly. This has the advantage of avoiding inefficiencies that arise from converting the rotational energy, i.e. mechanical energy of the wind turbine (2), into electrical energy and back into mechanical energy. In the case of hydrogen storage, this can be used, for example, to desalinate seawater or to compress hydrogen to increase energy storage density. The seawater desalination process requires an operating pressure of 800 to 1000 psi to desalinate seawater through reverse osmosis. 38against a salt-repellent membrane. The process of hydrogen compression is necessary because hydrogen is typically produced by fuel cells at low pressure (20–30 bar) and must be compressed to increase the energy storage density, for example, by using piston or rotary compressors, i.e. mechanical compressors. 39. Fig. 34 shows how the hybrid electromechanical energy management system is integrated into the wind turbine (2) by installing one or more compressors or other mechanical devices (N) directly on the drive train (9). The compressors or other mechanical devices are connected to other devices such as fuel cells, desalination devices, etc. via pipes or hoses or sub-drive trains or other connecting elements. The generated electrical energy or the produced hydrogen, methanol, ammonia, or other fuels is then transferred to the hulls (3) by means of cables, pipes or hoses or other means, where the energy storage devices, e.g., batteries or fuel tanks, are placed. In addition, discharge interfaces are integrated into the hulls (3) to allow external access to the energy storage devices. 7.Floodable hulls for intentional pivoting of the wind turbine vessel and underwater protection The sailing wind turbine vessel (1) presented here has the ability to pivot around its longitudinal axis when exposed to harsh weather and sea conditions while maintaining its full structural and functional integrity. The mechanism presented in this section additionally enables the wind turbine vessel (1) to intentionally pivot without external influence. This can be useful for maintenance work, to facilitate access to the upper part of the wind turbine vessel (1), or to utilize redundant systems (e.g., rudders or engines installed at the hull ends) that can be used after pivoting. Furthermore, the mechanism for intentional pivoting can be used to resiliently cope with severe sea storms. The wind turbine vessel (1) can pivot underwater.This allows it to seek underwater protection in stormy seas in order to be less exposed to the stormy wind speeds and stormy waves. Fig. David M. Warsinger, Emily W. Tow, Kishor G. Nayar, Laith A. Maswadeh, John H. Lienhard V, Energy efficiency of batch and semi-batch ^CCRO^ reverse osmosis desalination, Water Research, Volume 106, 2016 www.energy.gov / eere / fuelcells / gaseous-hydrogen-compression 35 shows the mechanism of intentional pivoting in five steps. Step 2 is the application case for underwater protection. The hulls (3) have a floodable chamber that is separated from a non-floodable chamber for the energy storage system, e.g. batteries or fuel tanks. When the floodable chambers are not flooded, they generate buoyancy that allows the wind turbine ship (1) to float. Step 1 of the intentional pivoting mechanism begins with flooding of hull (A) (see Fig.35) by opening one or more valves to allow water to flow in, and one or more additional valves to allow air or other gases inside the hull (A) to escape. The floodable chamber of the hull (A) fills with water and sinks. Additionally, hull (B) is pulled down. Step 2 completes this movement and the wind turbine vessel (1) floats upside down on hulls (B) and (C), with hull (A) underwater. In this position, the wind turbine vessel (1) can seek shelter below the water surface in the event of severe storms and critical winds or waves that could compromise the structural integrity of the wind turbine vessel (1). To support this maneuver, the wind turbine (2) is therefore designed to be watertight. Step 3 makes the wind turbine ship (1) float by partially flooding the hull (B) and, a little later, simultaneously partially filling the hull (A) with air or gas.This creates a downward movement of the hull (B) and an upward movement of the hull (A). Filling with air can be done by pumping air through pipes or hoses from parts of the wind turbine ship (1) that are above the water surface. Alternatively, if the energy storage system is based on a lighter-than-air gas, such as hydrogen, this gas can be used to fill the buoyancy chambers. The gas is released from the storage tanks into the floodable chambers via appropriate valves. The gas inflates the floodable chambers and the water inside is pushed out. Step 4 stops the partial flooding of hull (B) as soon as hull (B) and hull (A) are at the same level. Then both hulls (B) and (A) are completely filled with air or gas, allowing the wind turbine ship (1) to rise.Step 5 completes the lifting motion and the wind turbine ship (1) floats with two hulls (B) and (A) on the water surface, while hull (C) is in the air. In this way, the wind turbine ship (1) can perform intentional pivoting. Additional hull improvements This section presents various hull improvements in addition to those already listed above: 8.1. Fins to reduce drift and improve tacking and close-hauled sailing 8.2. Hull extensions with wind funnel effect 8.3. Hull shapes for pivoting ability 1. Fins to reduce drift and improve tacking and close-hauled sailing For the sail mechanism described in section 2, the drift drag force (F. WW) is of particular importance so that the wind turbine ship (1) is not drifted too far to leeward when sailing and thus cannot maintain the desired sailing course (see Fig. 17). In order to improve the shape of the hull (3) to generate more drag force (FWW) compared to a simple cylindrical hull shape as presented so far, the hulls (3) optionally have fins that act like a keel on the hulls (3). Fig. 36 shows the fins from a rear or front cross-sectional view of the wind turbine ship (1) on the left side and from a side view on the right side. One or more fins (10) are constructed so as to be foldable and made of flexible material. Fig.37 describes the folding mechanism, which is based on an active hinge (11) at the front of the fin (10), a luff (12) that holds the front of the fin (10), and a flexible material (13) that contracts when the fin is folded.If the active joint (11) rotates upwards, the fin (10) unfolds. If the active joint (11) rotates downwards, the fin (10) folds up. On the hulls (3) floating on the water, the fins (10) are fully unfolded underwater to create additional drift resistance. On the upper hull (3), the fins (10) act as sails when the wind turbine ship (1) is sailing on a close-hauled course. When the wind turbine ship (1) is sailing on other courses, the fins (10) can be folded up to create no drag. 1. Hull extensions with wind funnel effect Fig. 38 shows an alternative extension for the hulls (3). This hull extension (13) creates a wind funnel effect that increases the capacity factor of the wind turbines (2) by directing additional wind flow from above the wind turbine vessel (1) into the rotor surfaces of the wind turbines (2).In addition, a negative pressure is created behind the wind turbines (2) due to strong vortices, which draw more wind flow into the wind turbines (2). Consequently, this additional wind flow increases the power output. 40 This wind funnel effect is maximized on a beam reach, as shown in Fig. 38 in the cross-section and side view of the wind turbine vessel (1). In addition to the wind funnel effect, this hull extension (13) creates a keel effect below the hulls (3) floating on the water surface. Therefore, it increases the drag force (F WW) and thus reduces the drift of the wind turbine vessel (1), similar to the hull improvement presented in section 8.1. 8.3. Hull shapes for pivoting capability Various hull shapes for multihulls are known in the state of the art, all of which have been optimized for different properties. For example: ^ Vertically oval hull shapes offer higher drift resistance than circular hull shapes. ^ Flat hull shapes have a shallow draft. ^ V-shaped hulls cut through the water and waves, providing more stability in rough seas. In addition, they create a wave that lifts the vessel and thus reduces its forward drag. ^ Hydrofoil (water foil) hull extensions partially lift the ship's hull completely above the water surface, thus reducing forward drag.^ SWATH shapes (Small Waterplane Area Twin Hull) have a relatively high forward drag and are therefore slower, but behave much more calmly and sway less in heavy seas. 41 . ^ Asymmetric hull shapes reduce interference drag between the hulls 42. Fig. 39 shows some of the above-mentioned multi-hull shapes in cross-section based on their wetted surface, i.e. the total surface of the hull and appendages below the waterline. The part of the invention presented in this section takes any hull shape of a multi-hull vessel (not limited to the selection shown in Fig. 39) and duplicates the wetted surface in a rotationally symmetrical mirror image to enable the pivotability of the wind turbine vessel (1), thus forming novel shapes for the hull (3) for the wind turbine vessel (1) presented here. Each hull (3) of the wind turbine vessel (1) has two wetted surfaces of the selected hull shape. According to the number of hulls (3) of the wind turbine vessel (1) (see Fig.12 in Section 1), the degree for the rotationally symmetric mirroring is: 360° divided by the number of hulls (3) of the wind turbine ship (1). In this way, the wetted surface of the hull shape (3) is always correctly aligned with the water plane in every pivot position. Fig. 40 shows a combination of the oval and V-shaped hull options for the wind turbine ship (1) with three hulls before and after a 120° rotation. The combination of an oval and a V-shaped hull (3) shown in Fig.40 provides a keel effect which reduces drift, as described in Section 8.1, and a wind funnel effect that increases the power output of the wind turbine (2), as also shown in section 8.2.

[0004] ADVANTAGES OF THE INVENTION The present invention offers several advantages with regard to the goal of improving the efficiency of offshore energy production and transport, i.e. increasing energy production and / or reducing costs. These advantages relate to the declared objectives from the section OBJECTS OF THE INVENTION and are achieved as follows: I. Increasing the energy production of offshore wind turbines a) Increasing energy production for a given wind capacity i) Direct conversion of wind power into electrical energy: The invention presented here converts the kinetic energy of the wind directly into electrical energy, without inefficient detours, such as first moving a ship with wind power and then generating electrical energy with water turbines under the hull, as shown in the prior art, for example (Ref.6), (Ref.7) and (Ref.8).These approaches first partially convert wind power into kinetic energy for ship propulsion, which is then converted into electrical energy using water turbines. This requires the application of Betz's law twice instead of once. This means that the Betz coefficient 16 / 27 must be factored twice instead of just once to calculate the maximum power that can be extracted from the wind for energy generation (see also disadvantages of (Ref.7) for an explanation). ii) Direct use of wind power for ship propulsion instead of a separate drive motor: In the invention presented here, the wind turbines (2) are used in two ways simultaneously. Firstly, for the production of electrical energy, which is stored on board in the hulls (3). Secondly, the wind turbines (2) are used as sails for ship propulsion. Compared to other approaches presented in the prior art, for example (Ref.2), (Ref.3), (Ref.5), (Ref.6) and (Ref.8), the approach presented here does not consume previously produced electrical or otherwise stored energy for a separate propulsion system. Additional efficiency losses due to conversion from one form of energy to another are eliminated. This improves the net energy balance compared to the above-mentioned prior art. iii) Utilization of increased relative wind speeds due to the forward motion of the wind turbine vessel (1): In addition to the two advantages described above, the invention presented here also utilizes the increased speed of the apparent wind caused by the combination of true wind and relative wind due to the forward motion of the wind turbine vessel (1). Depending on the sailing course of the wind turbine vessel (1), the speed of the apparent wind can be slower or faster than the original true wind.In the half-wind course, the apparent wind increases significantly at high cruising speed compared to the true wind. Despite the reduction factor caused by the yaw angle between the wind turbine (2) and this faster apparent wind, the cubic influence of wind speed on power output can increase the net power output by up to a factor of 1.5 compared to a non-moving stationary wind turbine, such as state-of-the-art moored offshore wind turbines. Therefore, this half-wind course effect offers significant potential to increase energy production for a given wind capacity. iv) Avoiding wake losses in wind farms: Wake losses are a crucial factor in large-scale wind farms. For certain wind directions and speeds and close spacing between turbines, wake losses can be as high as 30%.An optimized layout for a typical offshore wind farm ensures that the overall wake losses are reduced to 10% or less of the potential annual energy yield. 43The advantage of the invention presented here is that there are no wake losses in a fleet of wind turbine vessels (1). Their mobility allows the wind turbine vessels (1) to position themselves relative to the wind in such a way that wake losses are avoided, thus achieving up to 10% more power output compared to stationary wind farms. v) Addressing movements along the three degrees of freedom directly at the wind turbine (2): Movements of the wind turbine along three degrees of freedom (roll, pitch, and yaw) caused by sea and wind conditions negatively impact the power output of the wind turbine and increase material fatigue. Various solutions have been presented in the field of moored floating wind turbines (see IV. AERODYNAMIC CHALLENGES in the STATE OF THE ART section). 44 and implemented 45 or are still in research 46However, the challenge of roll, pitch, and yaw movements is addressed at the level of the floating platform, not at the turbine level. To counteract these movements, the entire floating platform must be moved, which naturally requires more energy than applying the counteracting movements directly at the turbine level. The invention presented here applies the counteracting movements directly to the wind turbine (2) in a more energy-efficient manner. An active ball joint (8) is used to counteract the yaw, roll, and pitch of the wind turbine.43 Dr. Martin Dörenkämper, Large-scale wind farm effects – a key contribution to the economic operation of a wind farm, Blog Fraunhofer Institute for Wind Energy Systems, 202244 eg D. Roddier and C. Cermelli, Patent: Floating wind turbine platform with ballast control and mooring system, US9139266B245 eg www.principlepower.com / windHloat / advantage / performance46 eg B.Wen et al., Power performance of an offshore Hloating wind turbine in platform pitching motion, Energy journal, volume 154, 2018 or www.Hloatech-project.com (2) (see section 4). In contrast, this challenge is neither mentioned nor addressed in the state-of-the-art mobile, unmoored, floating offshore wind turbines presented in (Ref.1) to (Ref.7). Only (Ref.8) partially addresses rolling motion by considering and minimizing different heeling angles (5°, 10°, 15°) to improve wind turbine performance by increasing the distance of the trimaran booms from the main hull. However, here again the problem is addressed at the platform level and not directly at the turbine level.vi) Oscillating blade pitch angle during rotor rotation for yaw optimization: As described in Section 2, the yaw position of the wind turbine (2) is of fundamental importance for the sailing mechanism of the wind turbine vessel (1). However, as described, the torque of the wind turbine (2) and thus the power output decreases with increasing yaw angle (see Fig. 20). For this reason, this invention includes a mechanism for oscillating blade pitch during rotor rotation to optimize the wind flow angle at the blades when the wind turbine (2) is at a yaw angle and thus reduce the reduction in power output during yaw. It is state of the art to adjust the blade pitch depending on wind conditions.The novelty and essential element of this part of the invention is that the blade pitch is adjusted in an oscillating back-and-forth motion, not just occasionally when wind conditions change, but continuously during each rotor rotation. This optimizes the wind flow around the rotor blades (6) as described in Section 5. The prior art does not consider sailing with wind turbines. Therefore, no comparable optimizations are described there. vii) Increased power output through wind funnel effect of the hulls (3): The wind funnel effect for increasing the power output of wind turbines is known in the prior art. However, it has not yet been considered for mobile, free-floating, sailing wind turbines (2) as described in Section 8.b) Scaling of energy production by increasing accessible wind capacity i) Access to distant offshore regions with stronger and more consistent winds: Stationary, moored, floating offshore wind turbines are, as in the PRIOR ART section, limited in their scalability with regard to water depth and distance from the shore. The invention presented here shares the advantage of the free-floating mobile wind turbine concepts (Ref.1) to (Ref.8) of the presented prior art in that it is not limited by these scalability limitations and enables access to distant offshore regions with stronger and more consistent winds. ii) Fewer restrictions due to regulation and lengthy approval procedures: The free-floating mobile concept of the invention presented here has the advantage of being able to use offshore regions for wind energy generation outside of territorial waters close to the coast, i.e.outside the 12-nautical-mile zone and also outside the 200-nautical-mile exclusive economic zones (EEZs). This contributes to alleviating ecological and socioeconomic problems associated with coastal regions, for example, from the perspective of environmental protection or fishing and tourism. This also reduces regulatory complexity, as described in V. REGULATORY COMPLEXITY in the STATE OF THE ART section, since there is no need to go through lengthy permitting procedures for stationary installations. II.Reducing the costs of offshore wind energy production and transport a) Reducing manufacturing and installation costs i) Pivoting and submersible emplacement capabilities enable lightweight architecture: Typically, any offshore wind energy platform or vessel must be designed with a very strong and robust architecture to withstand the harsh wind and sea conditions at sea. This attempts to prevent massive roll, pitch, and yaw of the platform or vessel. Moored floating offshore wind platforms, for example, use heavy, semi-submersible structures to reduce the impact of strong waves. An extreme case of roll, i.e. capsizing, is prevented by mooring anchors. Or, for example, with mobile free-floating offshore wind turbines as in (Ref.8) by increasing the distance between the trimaran booms and thus by increasing the structural mass. The invention presented here has the advantage that, due to its design, it is not designed to withstand harsh wind and sea conditions, but to cope with them resiliently. On the one hand, roll, pitch, and yaw movements are counteracted and neutralized with the active ball joint (8)-based control (see Section 4). On the other hand, capsizing of the wind turbine vessel (1) in heavy seas and storms is managed with the ability to pivot (see Section 1). In very strong storms, the wind turbine vessel (1) can also use the floodable hulls and seek shelter underwater by intentionally pivoting (see Section 7). Therefore, the wind turbine vessel (1) presented here can be built with a much lighter architecture, which reduces construction costs and material consumption.ii) Lightweight elastic mounts (4) and shrouds (5) instead of heavy wind turbine towers: Typical state-of-the-art horizontal wind turbines are mounted on vertical towers. These are heavy and strong structures, as they must support the entire weight of the wind turbine and rotor and withstand the aerodynamic wind forces and loads. In particular, the thrust along the rotation axis in the leeward direction requires very stable and strong tower statics. For floating offshore wind turbines, moored or free-floating, stationary or mobile, this concept is fundamentally disadvantageous, as the center of gravity is at the top and the length of the tower thus contributes to multiplying the roll, pitch, and yaw movements. The invention presented here has the advantage of using a lighter mount (4).The elastically bent brackets (4), together with the shrouds (5), hold the wind turbine (2) inside the wind turbine vessel (1) and not at its upper tip (see section 3), thereby improving the center of gravity. iii) No special offshore installation vessels are required for installation: The invention of an autonomously sailing wind turbine vessel (1) presented here, by its design, does not require support from special offshore installation vessels. The wind turbine vessel (1) is built in a shipyard and then navigates independently to the installation site. This is an advantage over the state of the art for moored floating offshore wind turbines, which require special and expensive vessels to tow the wind turbine to the destination and install the anchors as well as power or gas lines, as described in the prior art.b) Reducing costs during energy production i) No dedicated offshore installation vessels are required for maintenance: Offshore maintenance and support are complex and costly, as the deployment of maintenance personnel and equipment is more demanding offshore than onshore. Furthermore, given the harsh sea conditions, moored floating wind turbine platforms cannot be fully serviced at sea. Instead, they must be detached from the berths and cables / pipelines by dedicated offshore installation vessels and towed back to port for the replacement of critical components or to avoid breakdowns. 47of even more expensive and often difficult to access heavy-lift vessels that could undertake the replacement of components at the offshore location. All of these complexities / costs increase with water depth and distance from shore, thus contributing to scalability limitations. In contrast, the invention presented here operates fully mobile and returns autonomously and regularly to the port or nearshore or offshore unloading station for integrated energy transport and unloading of the stored energy, where regular maintenance can also be carried out synergistically in parallel. The replacement of larger components can also benefit from the mobile operating model and be carried out when the wind turbine vessel (1) returns autonomously to port. This is made possible by several redundancy options, e.g.For example, operations can continue with two of three hulls (3) by deliberately pivoting or by installing three wind turbines (2) on a wind turbine vessel (1), so that if one fails, two can still be used for sail propulsion and power generation. Should the wind turbine vessel (1) nevertheless be out of service, it can be towed back to port without dismantling moorings or power cable installations or pipelines. ii) Reduced damage during offshore operations due to storms: Damage during extreme weather conditions such as hurricanes and typhoons or due to so-called 'monster' waves is reduced by utilising the underwater protection capability of the floodable hulls (3) (see Section 7).c) Reducing energy transport costs i) Flexible mobile energy transport without grid connection: Dynamic power cables and export cables or gas pipelines, substations, and grid connections represent a high complexity / cost burden for state-of-the-art floating offshore wind power solutions. The sailing wind turbine vessel (1) presented here has the advantage of being able to operate autonomously and mobile with integrated energy storage. This allows energy to be transported when and where it is needed, based on predictive, optimized dynamic route planning and navigation, taking into account the wind conditions on the dynamically planned route and the schedule for energy delivery to desired destinations, as presented in Section 6.

[0005] EXAMPLES OF WORKING I. Four examples of sailing courses 1. Downwind course Fig. 41 shows the wind turbine vessel (1) on a downwind course. The wind turbine (2) generates a thrust force (S) parallel to the rotor axis in the leeward direction. The drag force (FWW) is relatively low compared to the other courses, since on this course it corresponds to the forward drag of the hull (3), i.e. the water resistance force that counteracts the forward movement, which is low due to the design. Therefore, the forward force (F VW) of the thrust force (S) minus the drag force (FWW), as shown in the vector diagram on the right-hand side of Fig. 41. Compared to the other sailing course examples, the downwind course of the wind turbine vessel (1) is less suitable for efficient energy generation, especially for wind turbine vessels (1) with more than one wind turbine (2), because a) the wind turbines (2) are arranged in a row, which leads to significant wake loss effects, and b) the relative wind (headwind) resulting from the movement of the wind turbine vessel (2) blows directly opposite the wind direction, which significantly reduces the apparent wind at the wind turbine (2). 2. Downwind course Fig. 42 shows the wind turbine vessel (1) on a downwind course. As explained in Section 2, the thrust force (S) is converted into the drag force (F WW ) and the forward force (F VW) (see vector decomposition diagram on the right side of Fig. 42). The rotation axes of the wind turbines (2) point directly into the wind. With sufficient spacing between the wind turbines (2), no wake losses (or at least significantly smaller ones than in the previous example on a downwind course) reduce the generated power output and thrust. Furthermore, no yaw deviation to the true wind direction (which would otherwise reduce the power output, see Fig. 20) contributes to a relatively high forward force (F VW) and power output. However, here too, the relative wind from the movement of the wind turbine vessel (1) reduces the apparent wind and leads to a resulting yaw deviation of the wind turbine (2) from the apparent wind depending on the speed of movement of the wind turbine vessel (1). 3. Half-wind course Fig. 43 shows the wind turbine vessel (1) sailing a half-wind course perpendicular to the wind direction. The wind turbines (2) are at a yaw angle of 30°. Due to the yaw deviation of 30°, the power output is reduced to 80% (see Fig. 20). This also reduces the thrust (S) accordingly and thus also reduces the forward force (F VW). The relative wind from the movement of the wind turbine vessel (1) increases the apparent wind on the one hand and, depending on the speed of movement of the wind turbine vessel (1), also increases the actual yaw angle to the apparent wind on the other. At a very high speed of movement of the wind turbine vessel (1) combined with a low yaw angle (significantly smaller than the 30° shown in Fig. 43), the wind turbines (2) on this half-wind course can achieve up to 1.5 times the power output compared to non-moving stationary wind turbines (see the ADVANTAGES OF THE INVENTION section). 4. Upwind course Fig. 44 shows the wind turbine vessel (1) sailing on an upwind course. This course allows the wind turbine vessel (1) to gradually tack against the wind, so that, together with the utilization of changing wind directions, the wind turbine vessel (1) has full control over navigation to any destination.The hulls (3) are turned slightly into the wind, e.g., 18° upwind from a beam reach. The wind turbines (2) are still at a 30° yaw angle. The resulting angle between thrust (S) and drag force (F) WW) is then: 30° - 18° = 12°. This reduces the forward force (FVW) and thus also the speed of movement of the wind turbine ship (1). The influence of the relative wind from the movement of the wind turbine ship (1) on the increase in the yaw angle and also on the apparent wind is also reduced due to the reduced speed. In addition to the four sailing courses described, any course in between can be sailed with the wind turbine ship (1), with the exception of the area directly against the wind, which is typical for sailing, also known as the dead zone. The effects on the power output of the wind turbines (2) and the forward forces (FVW) and thus on the forward speed of the wind turbine ship (1) are then also a combination of those described above for the four courses. ii.Four calculations of the oscillating blade pitch angle The following sections show calculations of the oscillating blade pitch angle ^ for four rotor rotation scenarios at 0°, 90°, 180° and 270° for a wind turbine (2). The wind turbine (2) has the following parameters in all four scenarios: ^ Diameter d: 100 m ^ Tip speed ratio ^: 7 ^ Angle of attack ^: 10° ^ Yaw angle ^: 30° ^ Undisturbed wind speed at the wind turbine location vu: 12 m / s ^ True wind speed at the rotor plane v: 8 m / s (typically 2 / 3 of the actual wind speed vu) ^ Blade tip speed v. t : 84 m / s (with tip speed ratio ^ = 7 and v u = 12 m / s) The four scenarios each consider the cross section in the middle of the rotor blade (6), where the rotational wind speed u = 42 m / s (half of the blade tip speed v t) is. a) Blade pitch angle at 0° rotor blade rotation Under the given scenario, the blade pitch angle at 0° rotor rotation is ^0° = -1.6°, calculated with the corresponding wind speed vectors: h0^ u = 42 m / s, in vector notation gik: l^⃑ = m42 n , see vector space dimensions in Fig. 45 j 0 8 pqr^30°^^ v0° = 8 m / s, in vector notation: o⃑^° = m8 rst^30°^ n08 pqr^30°^ 6.9^ w0° = 46.5 m / s, with: u^^⃑ ^° = m42 + 8 rst^30°^ n = m46 n, see section 5 equation (G40°) 0 0 With Section 5 equation (G30°) and (G20°) we get (G10°): ^ Fig. 45 shows the calculation results in a geometric context. For orientation, the vector space dimensions are shown for both the frontal and top views. b) Blade pitch angle at 90° rotor blade rotation. Under the given scenario, the blade pitch angle at 90° rotor rotation is ^90° = -0.4°, calculated with the corresponding wind speed vectors: ^u = 42 m / s, in vector notation, see vector space dimensions Fig. 46. ^ v90° = 8 m / s 8 pqr^30°^ ^ ^^⃑^° = m 0 n, see section 5 equation (G590°)08 pqr^30°^ 6.9^ W90° = 42.6 m / s, with: u^^⃑ ^^° = m 0 n = m 0 n, see section 5 equation (G490°) 42 42 With Section 5 Equation (G3 90° ) and (G2 90° ) we obtain (G1 90° ): ^Fig. 46 shows the calculation results in a geometric context. For orientation, the vector space dimensions are shown for both the frontal and top views. c) Blade pitch angle at 180° rotor blade rotation. Under the given scenario, the blade pitch angle at 180° rotor rotation is 180° = 0.1°, calculated with the corresponding wind speed vectors: h0^ u = 42 m / s, w in vector notation gik: l^⃑ = m−42 n , see vector space dimensions Fig. 47 j 0 8 pqr^30°^^ v180° = 8 m / s, in vector notation: o⃑%&^° = m8 rst^30°^ n08 pqr^30°^ 6.9^ w180° = 38.6 m / s, with: u^^⃑ %&^° = m−42 + 8 rst^30°^ n = m−38 n, see section 5 equation 0 0 (G4 180° ) With Section 5 equation (G3180°) and (G2180°) we get (G1180°): ^ Fig. 47 shows the calculation results in a geometric context. For orientation, the vector space dimensions are shown for both the frontal and top views. d) Blade pitch angle at 270° rotor blade rotation. Under the given scenario, the blade pitch angle at 270° rotor rotation is ^ 270° = -0.4°, calculated with the corresponding wind speed vectors: ^u = 42 m / s, in vector notation, see vector space dimensions in Fig. 48 ^ v 270° = 8 m / s 8 cos^30°^ ^ p^⃑ '(^° = m 0 n, see section 5 equation (G5270°)08 cos^30°^ 6,9 ^W270° = 42.6 m / s, with: w^^^⃑ '(^° = m 0 n = m 0n, see section 5 equation (G4 270° ) − 42 −42 With Section 5 Equation (G3 270° ) and (G2 270° ) we obtain (G1 270° ): ^ Fig. 48 shows the calculation results in a geometric context. For orientation, the vector space dimensions are shown for both the frontal and top views. Using the same method as presented in Section 5 and exemplified in the above calculations, any other scenario for wind turbine parameters (2), wind conditions, and rotor positions can be calculated. The above oscillating blade setting method and the corresponding calculations can be further extended to consider an additional wind vector caused by the relative wind of the moving wind turbine vessel (1). However, the moving speed of the moving wind turbine vessel (1) is relatively slow compared to the offshore wind speeds and the peripheral speed at the rotor blades (6).Therefore, the influence of the relative wind of the moving wind turbine vessel (1) is less important for the overall calculation of the oscillating blade pitch angles and is therefore neglected in the above calculations. The wind vector of the headwind can be added to further increase accuracy. Regardless, it can be seen that a clockwise rotating wind turbine (2) offers aerodynamic advantages on a sailing course with a yawed wind turbine (2) (see, e.g., beam reach and close-hauled course above) when the wind is coming from the port side of the wind turbine vessel (1). This is the opposite situation, as in the example calculations a) – d) with a wind direction from starboard shown above in ii. The apparent wind speed in a) – d) is highest at the top, ie at 0° rotation of the rotor blade (6) and lowest at the bottom, ie at 180° rotation of the rotor blade (6), for a given yaw deviation of the wind turbine (2).Although far less at sea than on land, the wind is typically relatively stronger at altitude than near the surface, which is referred to as wind shear. If the wind comes from the port side of the ship (1) instead of the starboard side, as shown in a) – d), the apparent wind is relatively stronger at the lower position of the rotor blade (6), i.e. at 180° rotor rotation, and relatively weaker at the upper position, i.e. at 0° rotation of the rotor blade (6). Thus, the oscillating blade setting can compensate for or at least counteract the wind shear effect with wind from the port side and thus ensure a more balanced load on the wind turbine (2), which is beneficial, for example, for reducing material fatigue. Another aspect to be taken into account is that the oscillating blade setting also consumes energy. In the event that this is not possible under certain environmental conditions (e.g.If the wind speed (e.g., frequent wind direction changes, gusts, wake losses or other aerodynamic effects) does not provide a net benefit for the power output or if there is a relatively high energy consumption for the continuous adjustment of the blade pitch, the presented method can still be used to calculate the optimal average blade pitch for a given yaw angle of the wind turbine (2) for a specific sailing course.

[0006] FURTHER EMBODIMENTS 1. One embodiment relates to a ship for efficient and resilient energy production from wind power and for energy transport, comprising at least one wind turbine installed on the ship and a hull of the ship, wherein a) the hull is a multi-hull construction having at least three hulls that are attached rotationally symmetrically to the longitudinal axis of the ship, wherein the ship preferably floats on the water with at least two hulls and at least one hull is in the air and not on the water, so that the ship can be rotated (here also called "pivoted") about its longitudinal axis by external or internal influences, so that subsequently at least one hull that was previously in the air subsequently floats on the water together with at least one further hull and thus the ship continues to float on at least two hulls, and / or b) the wind turbine,can be a wind turbine known from the state of the art, which is used on the one hand for electrical energy production and on the other hand for propulsion and steering of the ship by a method which is characterized by the use of the wind turbine as a sail through a suitable yaw position of the wind turbine with yaw angles in the range ^ > -90° to ^ < 90°, so that 1) the yaw position of the wind turbine allows the wind to flow around wing-shaped rotor blades, 2) the resulting wind flow generates lift on the leeward side of the rotor blades, 3) the lift is broken down on the one hand into a torque which drives the wind turbine, and on the other hand into a thrust force which runs leeward parallel to the rotor axis, 4) the thrust force is in turn broken down into a drift resistance force of the ship and a forward force of the ship, so that with a suitable yaw angle ^, propulsion of the ship is brought about,5) the vessel can be steered preferentially to port and starboard, either with a rudder or differential motor drive, preferably known from the state of the art, or in the case of a vessel with at least two installed wind turbines, by different control of at least one front and at least one rear wind turbine, which steers the vessel, either by suitable different yaw positions of at least one front and at least one rear wind turbine, which result in different directions of the thrust vectors for steering the vessel, or by different mechanical or aerodynamic (i.e. resulting from changing the blade pitch angle) braking of the front and rear wind turbines with the same effect,so that preferably 6) all typical sailing courses, from downwind to upwind, can be sailed by the ship through the appropriate yaw position of the wind turbines and the steering of the ship to port and starboard, and 7) through the forward movement of the ship and the resulting wind, the power output of the wind turbine can be increased by up to 1.5 times. Preferably, the ship comprises at least one mount and at least one shroud, wherein a) the wind turbine is installed with the mount and shroud on the hulls, b) the mount is made of an elastically bent material, c) the mount ensures free rotor space for the free rotation of the rotor blades in yaw positions of the wind turbine with a yaw angle of ≥ -90° to ≥ < 90°, d) the mount ensures this free rotor space even after rotation or pivoting of the ship around the longitudinal axis of the ship,e) the shroud is attached between each pair of hulls and pulls the hulls, which are pushed apart by the elastically bent bracket, together in such a way that f) in equilibrium, the restoring force of the elastically bent bracket, together with the contracting force of the shroud pulling the hulls together, results in stable statics. Preferably, the vessel comprises at least one ball joint, wherein a) the wind turbine is attached to the bracket with the ball joint on its bolt, b) the ball joint is active, i.e., controllable, and the wind turbine can roll around the x-axis, tilt around the y-axis, and yaw around the z-axis along the three-dimensional xyz degrees of freedom, c) the housing of the ball joint is attached horizontally to the bracket, or d) the housing of the ball joint is attached vertically downwards to the bracket and can be rotated around the longitudinal axis of the vessel by a rotary motor,or e) the housing of the ball joint is mounted vertically upwards on the bracket and can be rotated about the longitudinal axis of the vessel by a rotary motor. Preferably, the vessel is designed to carry out a method for adjusting the rotor blades of the wind turbine in the yaw position, wherein the blade pitch angle ^, ϱ is adjusted oscillatingly during the rotation of the rotor blades along the rotor axis of the wind turbine continuously at each rotation position, preferably a) by calculating the projection of the vector of the true wind speed v ϱ , onto the rotor axis (direction of reference wind at 0° yaw deviation) to obtain pϱ, b) by calculating the projection u + the vector of the true wind speed v ϱ , to any parallel to the circumferential speed u at the respective rotor position, ie u+ is an extension of the circumferential speed u, c) by vector addition of pϱ + u + u + + v FW, to determine the flow velocity w ϱ to be obtained at the respective rotor position with velocity vector vFW given by the wind speed resulting from the forward movement of the ship, d) by calculating the angle between u and w ϱ to change the angle ^ ϱ which is the sum of the blade pitch angle ^ ϱ and the angle of attack ^ determined during the design of the rotor blades, e) by calculating the blade pitch angle ^ ϱby subtracting the angle of attack ^ from the angle ^ϱ, f) to then carry out the continuous blade adjustment at the respective rotational position with the blade setting angle ^ϱ, and g) to repeat this process continuously for each rotational position of the rotor blades. Preferably, the vessel comprises at least one energy management system on board the vessel, wherein a) the energy management system comprises at least one energy storage device on board the vessel in the hull or in the wind turbine or elsewhere on the vessel, b) the energy management system functions in a hybrid electromechanical manner, ie at least one mechanical device, e.g.a compressor or a desalination device that requires mechanical energy can use this mechanical energy directly on the drive train of the wind turbine, and c) the mechanical device is preferably connected to the energy storage device on board the ship or to other mechanical devices via pipes or hoses or partial drive trains or other connecting elements. Preferably, the ship comprises at least one hull, wherein a) the hull is floodable with water, b) the hull can be filled with air from the environment or a gas from the energy storage devices on board, so that preferably c) a method for intentionally rotating or pivoting around the longitudinal axis of the ship can be carried out as follows: 1) at least one hull is flooded and sinks, 2) the ship begins to rotate or pivot around its own longitudinal axis and then floats upside down, i.e.at least one hull, which was previously in the air, floats on the water surface and at least the hull floats below the water surface, 3) then at least the hull is partially filled with air or gas and at least the hull is partially flooded, 4) then at least the hull and at least the hull are filled with air or gas, and 5) at least both hulls float up, so that the ship rotates or pivots around the longitudinal axis. Preferably, the ship comprises at least one hull, wherein a) the hull is extended with at least one fin, b) the fin can be unfolded and folded by means of an active, i.e. controllable, joint, and c) the fin consists of a flexible material that is attached to a stable luff that is connected to the joint so that the fin can be folded.Preferably, the vessel comprises at least one hull, wherein the hull is extended with at least one hull extension with a wind funnel effect along the longitudinal side of the hull. Preferably, the vessel comprises at least one hull, wherein a) the shape of the hull is created by duplicating any hull shape of a multihull vessel, b) the duplication is a rotationally symmetrical reflection of any hull shape of a multihull vessel, and c) the angle of the rotationally symmetrical reflection is 360° divided by the number of hulls of the vessel.

Claims

CLAIMS 1. Ship (1) for energy production from wind power and for energy transport, comprising at least one wind turbine (2) with wing-shaped rotor blades (6) installed on the ship (1), and a hull (3), characterized in that d) the hull (3) is a multi-hull construction having at least three hulls (3) which are attached rotationally symmetrically to the longitudinal axis of the ship (1), and / or e) the wind turbine (2) is designed to propel the ship (1) by using the wind turbine (2) as a sail by setting a yaw position of the wind turbine (2) with yaw angles in the range ^ > -90° to ^ < 90°, wherein 1) in the yaw position the wind flows around the rotor blades (6) of the wind turbine (2), and 2) the resulting wind flow generates a lift (A) on the leeward side of the rotor blades (6), 3) wherein the rotor blades (6) are designed in the yaw position from the lift (A) on the one hand a torque (D) which drives the wind turbine (2),and secondly to provide a thrust force (S) which runs parallel to the rotor axis downwind, 4) wherein the thrust force (S) in turn generates a drift resistance force (F, WW ) of the ship (1) and a forward force (F VW) of the ship, wherein the yaw angle ^ brings about propulsion of the ship (1).

2. Ship (1) with a multi-hull construction according to claim 1, wherein the ship (1) is designed to float on the water with at least two hulls (3) and at least one hull (3) is in the air and not on the water, wherein the ship (1) can be rotated about its longitudinal axis by external or internal influence, wherein subsequently at least one hull (3), which was previously in the air, floats on the water together with at least one further hull (3), and thus the ship (1) continues to float on at least two hulls (3). 3.Ship (1) using the wind turbine (2) as a sail according to claim 1, wherein a steering of the ship (1) to port and starboard with a rudder, a differential motor drive, or in the case of a ship (1) with at least two installed wind turbines (2) by different control of at least one front and at least one rear wind turbine (2) either by different yaw positions of the at least one front and the at least one rear wind turbine (2) to provide a thrust (S) with different directions, or by. Different mechanical and / or aerodynamic braking of the front and rear wind turbines (2) occurs. 4.A ship (1) with a multi-hull construction according to claim 1 or 2, comprising at least one bracket (4) and at least one shroud (5), wherein a) the wind turbine (2) is installed with the bracket (4) and the shroud (5) on the hull (3), b) the bracket (4) is made of an elastic and / or bent material, c) the bracket (4) is designed to ensure a free rotor space (FR) for the free rotation of the rotor blades (6) in yawing positions of the wind turbine (2) with a yaw angle of ≥ -90° to ≥ < 90°, d) the bracket (4) ensures this free rotor space (FR) even after a rotation of the ship (1) about the longitudinal axis of the ship (1), and e) the shroud (5) is fastened between each two hulls and pulls the hulls (3) pressed apart by the elastically bent bracket (4) together in such a way that f) in equilibrium, the restoring force (FR) of the elastically bent bracket (4) together with the contracting force (F. K) the shroud (3) pulling the hulls (3) together results in stable statics. Ship (1) according to claim 4, further comprising at least one ball joint (8), wherein a) the wind turbine (2) is fastened to the bracket (4) by means of the ball joint (8) on a bolt of the ball joint (8), and b) the ball joint (8) is actively controllable and configured to roll the wind turbine (2) along the three-dimensional xyz degrees of freedom around the x-axis, to tilt around the y-axis, and to yaw around the z-axis, wherein c) a housing of the ball joint (8) is fastened horizontally to the bracket (4), or d) a housing of the ball joint (8) is fastened vertically downwards to the bracket (4) and can be rotated about the longitudinal axis of the ship (1) by a rotary motor (7), or e) a housing of the ball joint (8) is fastened vertically upwards to the bracket (4) and can be rotated about the longitudinal axis of the ship (1) by a rotary motor (7). Ship (1) according to one of the preceding claims, wherein the ship (1) is designed to change the blade pitch angle ^ during rotation of the rotor blades (6) along the rotor axis of the wind turbine (2). ϱ of the rotor blades (6) in a continuously oscillating manner, preferably according to the following method: a) Calculation of the projection p ϱ the vector of the true wind speed v ϱ , onto the rotor axis, b) Calculation of the projection u + the vector of the true wind speed v ϱ , to any parallel to the circumferential speed u at the respective rotor position, c) vector addition of pϱ + u + u+ + vFW to obtain the inflow speed wϱ at the respective rotor position with the speed vector v FWgiven by the wind speed resulting from the forward movement of the ship (1), d) calculating the angle between u and wϱ to obtain the angle ^ϱ which is the sum of the blade pitch angle ^ϱ and the angle of attack ^ determined during the design of the rotor blades (6), e) calculating the blade pitch angle ^ϱ by subtracting the angle of attack ^ from the angle ^ϱ, f) carrying out the continuous blade adjustment at the respective rotation position with the blade pitch angle ^ϱ, and g) continuously repeating the process for each rotation position of the rotor blades (6).Ship (1) according to one of the preceding claims, comprising at least one energy management system on board the ship (1), wherein a) the energy management system comprises at least one energy storage device on board the ship (1) in the hull (3) or in the wind turbine (2) or elsewhere on the ship (1), b) the energy management system functions in a hybrid electromechanical manner, wherein at least one mechanical device (N) on board the ship (1) which is designed to use mechanical energy can use this mechanical energy directly on the drive train (9) of the wind turbine (2), and c) the mechanical device (N) is preferably connected to the energy storage device on board the ship (1) or to further mechanical devices (N) via pipes or hoses or partial drive trains or other connecting elements.

8. A ship (1) with a multi-hull construction according to one of the preceding claims, wherein a) the hull (1) is configured to be flooded with water, and b) the hull (1) is configured to be filled with air from the environment or a gas from an energy storage device on board the ship, c) wherein the ship (1) is preferably configured to carry out a method for intentionally rotating around the longitudinal axis of the ship (1), wherein 1) at least a first hull (A) is flooded and sinks, 2) the ship (1) rotates around its own longitudinal axis and then floats upside down, wherein at least a second hull (B), which was previously in the air, floats on the water surface and at least the first hull (A) floats below the water surface, 3) subsequently at least the first hull (A) is partially filled with air or gas and at least the second hull (B) is partially flooded,4) subsequently at least the first hull (A) and at least the second hull (B) are filled with air or gas, and 5) subsequently at least the first hull (A) and the second hull (B) are floated.

9. Ship (1) according to one of the preceding claims, wherein a) the hull (1) comprises at least one fin (10), b) the fin (10) can be unfolded and folded together by means of an actively controllable joint (11), and c) the fin (10) consists of a flexible material (13) which is fastened to a stable luff (12) which is connected to the joint (11).

10. Ship (1) according to one of the preceding claims, wherein the hull (1) comprises at least one hull extension (13) with a wind funnel effect along the longitudinal side of the hull (3).

11. Ship (1) with a multi-hull construction according to one of the preceding claims, wherein a) the shape of the hull (3) results from duplication of any hull shape of a multi-hull ship,b) the duplication is a rotationally symmetrical reflection of any hull shape of the multihull vessel, and, c) the angle of rotationally symmetric reflection is 360° divided by the number of hulls (3) of the ship (1). 12.Method for propelling a ship (1) with at least one wind turbine (2) installed on the ship (1) and having wing-shaped rotor blades (6), and a hull (3), comprising: a) adjusting a yaw position of the at least one wind turbine (2) such that the wind flows around the rotor blades (6) of the wind turbine (2), b) wherein the resulting wind flow generates lift (A) on the leeward side of the rotor blades (6), c) wherein, in the yaw position, the lift (A) provides, on the one hand, a torque (D) which drives the wind turbine (2), and, on the other hand, a thrust force (S) which runs leeward parallel to the rotor axis, d) wherein the thrust force (S) in turn generates a drift resistance force (FWW) of the ship (1) and a forward force (FVW) of the ship, wherein the yaw angle ^ brings about propulsion of the ship (1).Method for propelling a ship (1) according to claim 12, wherein the ship (1) has at least one front and at least one rear wind turbine (2), further comprising: a) setting a different yaw position of the at least one front and at least one rear wind turbine (2) such that different directions of the corresponding thrust forces (S) lead to steering of the ship (1), and / or b) different mechanical braking of the at least one front and / or at least one rear wind turbine (2) such that different directions of the corresponding thrust forces (S) lead to steering of the ship (1), and / or c) different aerodynamic braking by changing the blade pitch angle of the wing-shaped rotor blades (6) of the at least one front and / or at least one rear wind turbine (2). 14.Method for propelling a ship (1) according to claim 12 or 13, wherein during a rotation of the rotor blades (6) along the rotor axis of the wind turbine (2) the blade pitch angle ^ϱ of the rotor blades (6) is continuously adjusted in an oscillating manner.

5. A method for propelling a ship (1) according to claim 14, wherein the blade pitch angle ^ ϱ of the rotor blades (6) is continuously oscillated according to the following procedure: a) Calculation of the projection p ϱ the vector of the true wind speed v ϱ , onto the rotor axis, b) Calculation of the projection u + the vector of the true wind speed v ϱ , to any parallel to the peripheral speed u at the respective rotor position, c) vector addition of p ϱ + u + u + + v FW, to determine the flow velocity w ϱto be obtained at the respective rotor position with the speed vector vFW given by the wind speed resulting from the forward movement of the ship (1), d) calculating the angle between u and wϱ in order to obtain the angle ^ϱ which is the sum of the blade pitch angle ^ϱ and the angle of attack ^ determined during the design of the rotor blades (6), e) calculating the blade pitch angle ^ϱ by subtracting the angle of attack ^ from the angle ^ϱ, f) carrying out the continuous blade adjustment at the respective rotational position with the blade pitch angle ^ϱ, and g) continuously repeating the process for each rotational position of the rotor blades (6).

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