Method and apparatus for controlling shaking amplitude of floating body, and storage medium and electronic apparatus

Abstract

A method for controlling the shaking amplitude of a floating body, the method comprising: when it is predicted that a typhoon is going to arrive within a first time period, determining typhoon information of the typhoon, wherein the typhoon information comprises: the wind intensity of the typhoon and the wind direction of the typhoon; on the basis of the typhoon information, determining an operating mode of a target system, wherein the target system is used for controlling the shaking amplitude of a floating body, the floating body is used for bearing a wind turbine generator set, and the shaking amplitude is used for describing the stability of the floating body; and on the basis of the operating mode, regulating the water level difference of a plurality of floating stand columns of the floating body, so as to control the shaking amplitude of the floating body within the first time period by means of the water level difference. Also included are an apparatus for controlling the shaking amplitude of a floating body, and a storage medium, an electronic apparatus, a computer program product and a computer program.

Description

Method and device for controlling the sway amplitude of a floating body, storage medium and electronic device

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to Chinese patent application No. 202410244321.X filed in China on March 4, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present disclosure relates to the field of new energy, and in particular to a method and device for controlling the sway amplitude of a floating body, a storage medium, an electronic device, a computer program product, and a computer program. Background Art

[0004] Floating wind power is a technology that harnesses ocean wind power by suspending wind turbines above the ocean surface. Compared to traditional land-based or shallow-water wind power, floating wind power offers greater installed capacity and more stable wind energy resources, making it more efficient in utilizing ocean wind energy resources.

[0005] However, floating wind power also faces challenges, one of which is dynamic ballasting technology. Dynamic ballasting is a technique used to ensure wind turbines maintain stable operation and safety in marine environments, countering the effects of external environmental factors such as waves and wind. Therefore, dynamic ballasting is crucial to the reliability and stability of floating wind power.

[0006] To address this challenge, researchers and engineers are continuously exploring and improving dynamic ballast technology, including upgrading wind turbine control systems and enhancing structural stability and wave resistance. Through continuous innovation and improvement, dynamic ballast technology for floating wind turbines will further enhance its application prospects in offshore wind power generation.

[0007] When wind and waves come, floating wind turbines will sway due to the influence of wind and waves. When the swaying angle is too large, it will reduce the system stability of floating wind turbines and affect their power generation efficiency. When facing a typhoon with strong winds, there is even a risk of capsizing.

[0008] Regarding the issue of how the dynamic ballast technology of floating wind power can cope with typhoon conditions when a typhoon comes, no effective solution has been proposed so far.

[0009] Therefore, it is necessary to improve the related technology to overcome the above-mentioned defects in the related technology. Summary of the Invention

[0010] The embodiments of the present disclosure provide a method and device for controlling the sway amplitude of a floating body, a storage medium, an electronic device, a computer program product, and a computer program, so as to at least solve the problem of how the dynamic ballast technology of floating wind power can cope with typhoon conditions when a typhoon approaches.

[0011] According to a first aspect of an embodiment of the present disclosure, a method for controlling the swaying amplitude of a floating body is provided, comprising: in a case where a typhoon is predicted to arrive within a first time period, determining typhoon information of the typhoon, wherein the typhoon information includes: typhoon wind force and typhoon wind direction; determining a working mode of a target system according to the typhoon information, wherein the target system is used to control the swaying amplitude of the floating body, wherein the floating body is used to carry a wind turbine, and the swaying amplitude is used to describe the stability of the floating body; adjusting the water level difference of multiple floating columns of the floating body according to the working mode, so as to control the swaying amplitude of the floating body within the first time period by the water level difference.

[0012] In some embodiments, determining the operating mode of the target system based on the typhoon information includes: when the typhoon wind force is greater than or equal to a first preset threshold, determining the operating mode of the target system to be the first mode; when the typhoon wind force is greater than or equal to a second preset threshold and less than the first preset threshold, determining the operating mode of the target system to be the second mode; when the typhoon wind force is less than the second preset threshold, determining the operating mode of the target system to be the third mode.

[0013] In some embodiments, adjusting the water level difference of the plurality of floating columns of the floating body according to the working mode includes: when the working mode is the first mode, determining a target column among the plurality of floating columns according to the first vectors corresponding to the plurality of floating columns, wherein a target first angle between a target first vector and a second vector corresponding to the target column is the smallest among the plurality of first angles between the plurality of first vectors and the second vectors, the first vector is a vector pointing from the center of gravity of the floating body to the floating column, and the magnitude of the second vector is the same as the magnitude of the wind vector of the typhoon and opposite in direction; decomposing the second vector according to the target first angle, the direction of the third vector, and the direction of the target first vector to determine the magnitude of the first vector and the magnitude of the third vector, wherein the direction of the third vector is determined according to the directions of the first vector and the second vector; adjusting the water level difference of the plurality of floating columns according to the magnitude of the first vector and the magnitude of the third vector within a second time period, and controlling the wind turbine to stop working, wherein the second time period is before the first time period.

[0014] In some embodiments, adjusting the water level difference of the plurality of floating columns of the floating body according to the working mode includes: when the working mode is the second mode, obtaining current typhoon information of the typhoon at the current moment according to a first time period within the first time period; determining the magnitude and direction of a fourth vector according to the current typhoon information, wherein the fourth vector has the same magnitude and opposite direction as the current typhoon vector corresponding to the current typhoon information; determining a target column from the plurality of floating columns according to the fourth vector and first vectors corresponding to the plurality of floating columns, wherein a target first vector corresponding to the target column and a target second angle of the fourth vector with respect to the target column is the smallest among multiple second angles between multiple first vectors and the fourth vectors, the first vector being a vector pointing from the center of gravity of the floating body toward the floating column; decomposing the fourth vector according to the target second angle, the direction of a fifth vector, and the direction of the target first vector to determine the magnitude of the first vector and the magnitude of the fifth vector, wherein the direction of the fifth vector is determined according to the directions of the first vector and the fourth vector; and adjusting the water level difference of the plurality of floating columns at the current moment according to the magnitude of the first vector and the magnitude of the fifth vector.

[0015] In some embodiments, adjusting the water level difference of the multiple floating columns of the floating body according to the working mode includes: when the working mode is the third mode, determining the current shaking amplitude of the floating body at the current moment according to the second time period within the first time period; and adjusting the water level difference of the multiple floating columns at the current moment according to the current shaking amplitude.

[0016] In some embodiments, adjusting the water level difference of the plurality of floating columns of the floating body according to the working mode includes: when the working mode is the first mode, determining a target column among the plurality of floating columns according to the first vectors corresponding to the plurality of floating columns, and determining a target first angle between a second vector and the target first vector corresponding to the target column, wherein the target first angle is the smallest among the plurality of first angles between the plurality of first vectors and the second vectors, the first vector is a vector pointing from the center of gravity of the floating body toward the floating column, and the second vector is the same in magnitude and opposite in direction to the wind vector of the typhoon; controlling the floating body to adjust the floating body posture according to the target first angle so that the target first vector corresponding to the target column is in the same direction as the second vector; pumping liquid from floating columns other than the target column among the plurality of floating columns into the target column within a second time period until the water level of the liquid in the target column reaches the highest, and controlling the wind turbine to stop working, wherein the second time period is before the first time period.

[0017] In some embodiments, the method further includes: during the process of adjusting the water level difference of the plurality of floating columns, obtaining an average value of the water levels of the liquids in the plurality of floating columns within a third time period, and determining the average value as the water level height values ​​of the plurality of floating columns; and calculating the water level difference of the plurality of floating columns at a target time based on the plurality of water level height values ​​to determine whether the water level difference of the plurality of floating columns has been adjusted.

[0018] According to a second aspect of an embodiment of the present disclosure, a device for controlling the swaying amplitude of a floating body is provided, comprising: a first determination module for determining typhoon information of a typhoon when it is predicted that a typhoon will arrive within a first time period, wherein the typhoon information includes: typhoon wind force and typhoon wind direction; a second determination module for determining a working mode of a target system according to the typhoon information, wherein the target system is used to control the swaying amplitude of the floating body, wherein the floating body is used to carry a wind turbine, and the swaying amplitude is used to describe the stability of the floating body; an adjustment module for adjusting the water level difference of a plurality of floating columns of the floating body according to the working mode, so as to control the swaying amplitude of the floating body within the first time period by the water level difference.

[0019] According to a third aspect of an embodiment of the present disclosure, a computer-readable storage medium is provided, in which a computer program is stored, wherein the computer program is configured to execute the method for controlling the swaying amplitude of a floating body of any embodiment of the first aspect mentioned above when running.

[0020] According to the fourth aspect of the embodiments of the present disclosure, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and runnable on the processor, wherein the processor executes the method for controlling the swaying amplitude of the floating body of any embodiment of the first aspect through the computer program.

[0021] According to a fifth aspect of an embodiment of the present disclosure, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the method for controlling the swaying amplitude of a floating body according to any embodiment of the first aspect.

[0022] According to the sixth aspect of the embodiments of the present disclosure, a computer program is provided, comprising computer program code. When the computer program code runs on a computer, the computer executes the method for controlling the swaying amplitude of a floating body according to any embodiment of the first aspect above.

[0023] Through the embodiments of the present disclosure, when it is preset that a typhoon will arrive within a first time period, information such as the typhoon's wind force and direction is obtained; based on this typhoon information, the working mode of the target system is determined, the target system is used to control the swaying amplitude of the float, the float is used to carry the wind turbine, and the swaying amplitude is used to describe the stability of the float, the smaller the swaying amplitude, the more stable the float; the water level difference of the multiple floating columns of the float is adjusted according to the working mode, so as to control the swaying amplitude of the float within the first time period by the water level difference of the multiple floating columns; by adopting the above scheme, when a typhoon strikes, the water level difference of the three floating columns of the triangular float is adjusted to assist in resisting the typhoon and ensure the stability of the float; thereby solving the problem in the related art of how the dynamic ballast technology of floating wind power can cope with typhoon conditions when a typhoon strikes. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0025] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0026] FIG1 is a hardware structure block diagram of a computer terminal for a method for controlling the sway amplitude of a floating body according to an embodiment of the present disclosure;

[0027] FIG2 is a flow chart of a method for controlling the sway amplitude of a floating body according to an embodiment of the present disclosure;

[0028] FIG3 is a schematic diagram of an adjustment principle of dynamic ballast according to an embodiment of the present disclosure;

[0029] FIG4 is a schematic diagram of a floating column water level difference adjustment process according to an embodiment of the present disclosure;

[0030] FIG5 is a schematic structural diagram of a floating wind turbine according to an embodiment of the present disclosure;

[0031] FIG6 is a schematic structural diagram of a floating foundation according to an embodiment of the present disclosure;

[0032] FIG7 is a schematic diagram of another floating column water level difference adjustment process according to an embodiment of the present disclosure;

[0033] FIG8 is a schematic diagram of a typhoon wind direction according to an embodiment of the present disclosure;

[0034] FIG9 is a schematic diagram of another floating column water level difference adjustment process according to an embodiment of the present disclosure;

[0035] FIG10 is a structural block diagram of a device for controlling the sway amplitude of a floating body according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0036] In order to enable those skilled in the art to better understand the solutions of the present disclosure, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the embodiments described are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present disclosure.

[0037] It should be noted that the terms "first", "second", etc. in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0038] The method embodiments provided in the embodiments of the present disclosure can be executed in a computer terminal or a similar computing device. Taking operation on a computer terminal as an example, FIG1 is a hardware structure block diagram of a computer terminal of a method for controlling the sway amplitude of a floating body according to an embodiment of the first aspect of the present disclosure. As shown in FIG1 , the computer terminal may include one or more (only one is shown in FIG1 ) processors 102 (the processor 102 may include but is not limited to a processing device such as a microprocessor (Central Processing Unit, MCU) or a programmable logic device (Field Programmable Gate Array, FPGA)) and a memory 104 for storing data, wherein the above-mentioned computer terminal may also include a transmission device 106 and an input and output device 108 for communication functions. It can be understood by those skilled in the art that the structure shown in FIG1 is only for illustration and does not limit the structure of the above-mentioned computer terminal. For example, the computer terminal may also include more or fewer components than those shown in FIG1 , or have a configuration different from that shown in FIG1 .

[0039] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the method for controlling the sway amplitude of the floating body in the embodiment of the present disclosure. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, realizes the above-mentioned method for controlling the sway amplitude of the floating body. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may include a memory remotely located relative to the processor 102, and these remote memories may be connected to the computer terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0040] The transmission device 106 is used to receive or transmit data via a network. A specific example of the aforementioned network may include a wireless network provided by a computer terminal's communications provider. In one embodiment, the transmission device 106 includes a network interface controller (NIC), which can be connected to other network devices via a base station to enable communication with the Internet. In another embodiment, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0041] In an embodiment, a method for controlling the sway amplitude of a floating body is provided. FIG2 is a flow chart of a method for controlling the sway amplitude of a floating body according to an embodiment of the present disclosure. As shown in FIG2 , the flow chart includes the following steps S202-S206:

[0042] Step S202: When it is predicted that a typhoon will arrive within a first time period, determining typhoon information of the typhoon, wherein the typhoon information includes: typhoon wind force and typhoon wind direction;

[0043] Step S204: determining an operating mode of a target system according to the typhoon information, wherein the target system is used to control a sway amplitude of a floating body, wherein the floating body is used to carry a wind turbine, and the sway amplitude is used to describe the stability of the floating body;

[0044] Step S206: adjusting the water level difference of the plurality of floating columns of the floating body according to the working mode, so as to control the swaying amplitude of the floating body in the first time period by the water level difference.

[0045] Through the above steps, when it is preset that a typhoon will arrive within a first time period, information such as the typhoon's wind force and direction is obtained; based on this typhoon information, the working mode of the target system is determined, the target system is used to control the swaying amplitude of the float, the float is used to carry the wind turbine, and the swaying amplitude is used to describe the stability of the float, the smaller the swaying amplitude, the more stable the float; the water level difference of the multiple floating columns of the float is adjusted according to the working mode, so as to control the swaying amplitude of the float within the first time period by the water level difference of the multiple floating columns; by adopting the above scheme, when a typhoon strikes, the water level difference of the three floating columns of the triangular float is adjusted to assist in resisting the typhoon and ensure the stability of the float; thereby solving the problem in the related technology of how the dynamic ballast technology of floating wind power can cope with typhoon conditions when a typhoon strikes.

[0046] In some embodiments, the above step S204 includes the following steps S11-S13:

[0047] Step S11, when the typhoon wind force is greater than or equal to a first preset threshold, determining that the operating mode of the target system is the first mode;

[0048] Step S12: when the typhoon wind force is greater than or equal to a second preset threshold and less than the first preset threshold, determining that the operating mode of the target system is the second mode;

[0049] Step S13: When the typhoon wind force is less than the second preset threshold, determining that the operating mode of the target system is the third mode.

[0050] Under different typhoon wind forces, the degree of impact of the typhoon on the floating body is different, so the floating body needs to take different countermeasures. Therefore, two thresholds are set according to the typhoon wind force, thereby dividing the control system of the floating body (i.e., the above-mentioned target system) into three different working modes. When the typhoon wind force is greater than or equal to the first preset threshold, that is, the typhoon wind force is too large, the working mode of the target system is determined to be the first mode; when the typhoon wind force is less than the second preset threshold, that is, the typhoon wind force is small, the working mode of the target system is determined to be the third mode; when the typhoon wind force is between the first preset threshold and the second preset threshold, the working mode of the target system is determined to be the second mode.

[0051] In some embodiments, the above step S206 includes the following steps S21-S23:

[0052] Step S21: When the operating mode is the first mode, a target column is determined from among the plurality of floating columns based on first vectors corresponding to the plurality of floating columns, wherein a target first angle between a target first vector and a second vector corresponding to the target column is the smallest among a plurality of first angles between the plurality of first vectors and the second vectors, the first vector is a vector pointing from the center of gravity of the floating body toward the floating column, and the second vector has the same magnitude as and an opposite direction to the typhoon wind vector;

[0053] Step S22: Decompose the second vector according to the target first angle, the direction of the third vector, and the direction of the target first vector to determine the magnitude of the first vector and the magnitude of the third vector, wherein the direction of the third vector is determined according to the directions of the first vector and the second vector;

[0054] Step S23: adjusting the water level difference of the plurality of floating columns within a second time period according to the magnitude of the first vector and the magnitude of the third vector, and controlling the wind turbine to stop working, wherein the second time period is before the first time period.

[0055] In some embodiments, when the target system is in the first mode, a target column is first determined from a plurality of floating columns. The method for determining the target column is as follows: first, the direction of a first vector corresponding to each of the floating columns is determined, where the direction of the first vector is the direction in which the center of gravity of the floating column points to the floating column; then, the direction of a second vector is determined according to the typhoon wind direction, where the direction of the second vector is opposite to the typhoon wind direction; thereby, vector angles between the plurality of first vectors and the second vectors are determined in sequence, and the floating column corresponding to the first vector with the smallest angle is determined as the target column; second, the second vector is vector-decomposed according to the target first angle corresponding to the target column, the direction of the third vector, and the direction of the target first vector, to determine the magnitudes of the first vector and the third vector; the direction of the third vector is shown as TB in FIG. 3 , where T is the third vector, TA is the first vector, and α is the target first angle.

[0056] In the embodiment shown in Figure 3, there are three floating columns. Specifically, once wind direction is determined, the adjustment strategy of the three floating columns aims to adjust the tilt angle of the floating body in the direction opposite to the wind direction. Any posture can be decomposed into a superposition of "basic ballast + A + B" states. The basic ballast controls the amount of water available for adjustment in A and B, while A and B adjust the tilt angle. In the first mode, due to the excessive impact of wind, the basic ballast is not retained, meaning that all ballast water is adjusted to A + B.

[0057] The angle relationship is: The diagonal obtained by calculating the vectors of the parallelogram is the inclination angle. In Figure 3, the angle between TA and TB is α. After calculating the sizes of TA and TB, equal amounts of water are adjusted to floating columns 2 and 3 based on the size of TA, and water is adjusted to floating column 3 based on the size of TB. In other words, the target water levels of the three floating columns are determined based on the sizes of TA and TB, and the water levels are adjusted accordingly.

[0058] However, since the typhoon wind force is greater than the first preset threshold, the typhoon will seriously affect the operation of the floating body. Therefore, in the first mode, the floating body will complete the adjustment of the floating column water level difference within the second time period before the typhoon arrives, and control the wind turbine to stop working, so as to fully respond to the typhoon and reduce the impact of the typhoon on the floating body.

[0059] It's important to note that in a calm state (i.e., the initial state), the center of gravity of the floating wind turbine system is located at the exact center of the entire buoy. This center position is controlled by ensuring that the static ballast (concrete ballast can be used) of the floating column housing the wind turbine is less than that of the other two columns. The dynamic ballast water volume is the same across all three columns.

[0060] When the dynamic ballast water levels of the three columns differ, the buoy is tilted. According to the design concept, in extreme cases, when the ballast water level of floating columns 1 and 2 is both at 3 (or 1 and 3 are both at 2, or 2 and 3 are both at 1), the maximum tilt of the buoy is 4°, with 3 being the lowest and 1 and 2 being the highest. When the ballast water level of floating columns 1 is both at 2 and 3 (or 2 is both at 1 and 3, or 3 is both at 1 and 2), the maximum tilt is 2°.

[0061] In some embodiments, the above step S206 may further include the following steps S31-S35:

[0062] Step S31: when the working mode is the second mode, obtaining current typhoon information of the typhoon at the current moment according to a first time period within the first time period;

[0063] Step S32: determining the magnitude and direction of a fourth vector according to the current typhoon information, wherein the fourth vector has the same magnitude and opposite direction to the current typhoon vector corresponding to the current typhoon information;

[0064] Step S33: determining a target column from among the plurality of floating columns based on the fourth vector and first vectors corresponding to the plurality of floating columns, wherein a target second angle between the target first vector corresponding to the target column and the fourth vector is the smallest among a plurality of second angles between the plurality of first vectors and the fourth vectors, and the first vector is a vector pointing from the center of gravity of the floating body toward the floating column;

[0065] Step S34: Decompose the fourth vector according to the target second angle, the direction of the fifth vector, and the direction of the target first vector to determine the magnitude of the first vector and the magnitude of the fifth vector, wherein the direction of the fifth vector is determined according to the directions of the first vector and the fourth vector;

[0066] Step S35: adjusting the water level difference of the plurality of floating columns at the current moment according to the magnitude of the first vector and the magnitude of the fifth vector.

[0067] The adjustment principle of the water level difference of the floating body in the second mode is the same as that in the first mode, and both are as shown in Figure 3. The difference is that since the typhoon wind force corresponding to the second mode is less than the first preset threshold, the impact of the typhoon on the floating body at this time is not as great as that in the first mode. Therefore, in the second mode, the wind turbine set installed on the floating body can still maintain its working state, and there is no need to complete the adjustment of the water level difference before the typhoon arrives. In the second mode, the floating body regularly obtains the current typhoon information of the typhoon according to the first time period, and adjusts the water level difference in real time based on the current typhoon information. During the typhoon, information such as wind force and wind direction is not constant. Therefore, the floating body also needs to be adjusted in time according to the typhoon information at different times, so as to better resist the typhoon, improve the posture stability of the floating body during operation, and thus improve the working efficiency of the wind turbine during the typhoon attack.

[0068] In some embodiments, the above step S206 may further include the following steps S41-S42:

[0069] Step S41: when the working mode is the third mode, determining the current sway amplitude of the floating body at the current moment according to a second time period within the first time period;

[0070] Step S42: adjusting the water level difference of the plurality of floating columns at the current moment according to the current sway amplitude.

[0071] When it is determined that the typhoon wind force is less than the second preset threshold and the working mode of the floating body is in the third mode, the floating body will regularly determine the current swaying amplitude of the floating body at the current moment according to the second time period within the first time period of the typhoon, so as to adjust the water level difference of the multiple floating columns in a targeted manner according to the current swaying amplitude.

[0072] In some embodiments, the workflow of the float in the third mode may be as shown in FIG4 , specifically including:

[0073] Step S401: The third mode starts;

[0074] Step S402: Measure the average elevations h1, h2, and h3 of the three floating columns within 1 minute (corresponding to the water level heights of floating columns 1, 2, and 3, respectively);

[0075] Step S403: Determine whether the current inclination angle of the floating body is greater than a limit value based on the average elevation; if so, proceed to the next step of determination; if not, return to step S402 and continue monitoring the inclination angle data of the floating body;

[0076] Steps S4041 to S4046: Determine the size relationship between the three average elevations, and then perform corresponding water level adjustment operations based on the determination results.

[0077] In some embodiments, the above step S206 may further include the following steps S51-S53:

[0078] Step S51: When the operating mode is the first mode, a target column is determined from among the plurality of floating columns based on the first vectors corresponding to the plurality of floating columns, and a magnitude of a target first angle between a second vector and the target first vector corresponding to the target column is determined, wherein the target first angle is the smallest among the plurality of first angles between the plurality of first vectors and the second vector, the first vector being a vector pointing from the center of gravity of the floating body toward the floating column, and the second vector being equal in magnitude to and opposite in direction to the typhoon wind vector;

[0079] Step S52: controlling the floating body to adjust the floating body posture according to the size of the target first angle so that the target first vector corresponding to the target column is in the same direction as the second vector;

[0080] Step S53: within a second time period, pumping liquid from floating columns other than the target column among the plurality of floating columns into the target column until the water level of the liquid in the target column reaches a maximum, and controlling the wind turbine to stop operating, wherein the second time period is before the first time period.

[0081] In some embodiments, the following solution can also be adopted in the first mode to deal with typhoons: first determine the target column and the target first angle corresponding to the target column, and then control the float to adjust its posture through the DP (dynamic positioning) device set on the float, so that the target column faces the direction of the typhoon, the propeller is aligned (reducing the force-bearing area), and the wind wheel is locked to reduce the load; then the liquid in the other floating columns is pumped into the target column until the water level reaches the highest. This process also needs to be completed before the first time period, and the wind turbine needs to be controlled to stop working within the first time period to avoid property damage.

[0082] In some embodiments, the method further includes: during the process of adjusting the water level difference of the plurality of floating columns, obtaining an average value of the water levels of the liquids in the plurality of floating columns within a third time period, and determining the average value as the water level height values ​​of the plurality of floating columns; and calculating the water level difference of the plurality of floating columns at a target time based on the plurality of water level height values ​​to determine whether the water level difference of the plurality of floating columns has been adjusted.

[0083] During the process of adjusting the water level difference by the floating body, it is necessary to regularly obtain the average value of these floating columns within a certain period of time (the third time period), so as to determine from which floating columns liquid needs to be pumped out and to which floating column the liquid needs to be pumped out according to the target water level difference, and to determine whether the water level difference of these floating columns has been adjusted by regularly calculating the water level difference at different times.

[0084] Obviously, the embodiments described above are only part of the embodiments of the present disclosure, rather than all the embodiments. In order to better understand the above method, the above process is described below in conjunction with the embodiments, but it is not intended to limit the technical solutions of the embodiments of the present disclosure. Specifically:

[0085] In some embodiments, the floating wind power structure in the embodiment of the present disclosure is shown in Figure 5. Figure 5 is a structural schematic diagram of a floating wind power in the embodiment of the present disclosure. The floating wind power consists of a floating foundation (i.e., a floating body), a tower and a wind turbine. The floating foundation is used to support the wind turbine to float on the water surface, so that the wind turbine can generate wind power through the wind force on the water surface; the tower is used to connect the wind turbine and the floating foundation; the floating foundation is composed of three floating columns.

[0086] Specifically, the detailed structure of the floating foundation is shown in Figure 6. The floating foundation is provided with two upper and lower circulation channels for adjusting the ballast water level. Pumping units 1 and 1' can work simultaneously and can realize pumping in two directions according to the control strategy; the same applies to pumping units 2 and 2', 3 and 3'. The redundancy of the entire system is increased, that is, when one or two pumps break down, the remaining pumps can still ensure effective operation. The upper and lower ends of the three floating columns are connected to the other floating columns through pipes. The floating columns are hollow structures and liquid can be stored in the middle. In the embodiment of the present disclosure, the center of gravity of the floating foundation is adjusted by adjusting the water level difference of the liquid in the floating columns through the pumping units, thereby assisting in resisting typhoons when typhoons come and avoiding serious losses to floating wind power plants caused by typhoons.

[0087] In some embodiments, an artificial mode of dynamic ballasting of a floating body is also provided in the embodiments of the present disclosure. When a strong wind typhoon strikes, the water level difference of the floating column is adjusted manually. As shown in FIG7 , the operating logic of the artificial mode includes steps S701 to S703.

[0088] Step S701: Manual mode starts.

[0089] Step S702: predict the typhoon path, yaw angle and floating body attitude.

[0090] It should be noted that the schematic diagram of the typhoon path and yaw angle is shown in Figure 8. The typhoon direction is generally divided into six directions based on the three floating columns; and the prediction of the floating body posture can be made by referring to Table 1.

[0091] Table 1

[0092] Table 1 shows the tilt angle of the floating body (ie, the floating body posture) under different wind force levels if the floating body is not affected by the water level difference of the floating columns.

[0093] Step S703, determine whether the maximum inclination angle of the floating body is greater than the limit value; if not, process it through other modes, if so, execute steps S7041-S7046.

[0094] In steps S7041 to S7046, the wind zones where the typhoon wind direction is located are determined in turn. The typhoon wind direction is divided into 6 wind zones according to the three floating columns. After determining the wind zone where the typhoon wind direction is located, the corresponding adjustment method is matched to adjust the water level difference.

[0095] In other embodiments, when typhoon winds are weak (or even absent), the buoy control system can be switched to a shutdown mode. In this mode, the buoy periodically measures the water levels in the three buoys and then sequentially determines whether the water levels of buoys 1, 2, and 3 exceed a specified value. If so, ballast water is pumped to the buoy with the lowest water level and the next measurement is performed. If not, the system shuts down. The specific control logic is shown in Figure 9.

[0096] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus the necessary general hardware platform, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present disclosure, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for enabling a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods of the various embodiments of the present disclosure.

[0097] In the second aspect of the embodiments of the present disclosure, an embodiment provides a device for controlling the sway amplitude of a floating body, which is used to implement the above-mentioned embodiments and preferred embodiments, and the details that have been described will not be repeated. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceived.

[0098] FIG10 is a structural block diagram of a device for controlling the sway amplitude of a floating body according to an embodiment of the second aspect of the present disclosure, the device comprising:

[0099] The first determining module 1002 is configured to determine typhoon information of the typhoon when it is predicted that the typhoon will arrive within a first time period, wherein the typhoon information includes: typhoon wind force and typhoon wind direction;

[0100] a second determining module 1004, configured to determine an operating mode of a target system according to the typhoon information, wherein the target system is configured to control a sway amplitude of a floating body, wherein the floating body is configured to carry a wind turbine, and the sway amplitude is configured to describe the stability of the floating body;

[0101] The adjustment module 1006 is configured to adjust the water level difference of the plurality of floating columns of the floating body according to the working mode, so as to control the swaying amplitude of the floating body in the first time period through the water level difference.

[0102] Through the above-mentioned device, when it is preset that a typhoon will arrive within a first time period, information such as the typhoon's wind force and direction is obtained; based on this typhoon information, the working mode of the target system is determined, the target system is used to control the swaying amplitude of the float, the float is used to carry the wind turbine, and the swaying amplitude is used to describe the stability of the float, the smaller the swaying amplitude, the more stable the float; the water level difference of the multiple floating columns of the float is adjusted according to the working mode, so as to control the swaying amplitude of the float within the first time period by the water level difference of the multiple floating columns; by adopting the above-mentioned scheme, when a typhoon strikes, the water level difference of the three floating columns of the triangular float is adjusted to assist in resisting the typhoon and ensure the stability of the float; thereby solving the problem in the related technology of how the dynamic ballast technology of floating wind power can cope with typhoon conditions when a typhoon strikes.

[0103] In some embodiments, the second determination module 1004 is further used to determine that the operating mode of the target system is the first mode when the typhoon wind force is greater than or equal to the first preset threshold; to determine that the operating mode of the target system is the second mode when the typhoon wind force is greater than or equal to the second preset threshold and less than the first preset threshold; and to determine that the operating mode of the target system is the third mode when the typhoon wind force is less than the second preset threshold.

[0104] In some embodiments, the adjustment module 1006 is further configured to, when the working mode is the first mode, determine a target column among the multiple floating columns according to the first vectors corresponding to the multiple floating columns, wherein a target first angle between a target first vector and a second vector corresponding to the target column is the smallest among multiple first angles between the multiple first vectors and the second vectors, the first vector is a vector pointing from the center of gravity of the floating body toward the floating column, and the magnitude of the second vector is the same as the magnitude of the wind vector of the typhoon and opposite in direction; decompose the second vector according to the target first angle, the direction of the third vector, and the direction of the target first vector to determine the magnitude of the first vector and the magnitude of the third vector, wherein the direction of the third vector is determined according to the directions of the first vector and the second vector; adjust the water level difference of the multiple floating columns according to the magnitude of the first vector and the magnitude of the third vector within a second time period, and control the wind turbine to stop working, wherein the second time period is before the first time period.

[0105] In some embodiments, the adjustment module 1006 is further configured to, when the operating mode is the second mode, obtain current typhoon information of the typhoon at the current moment according to the first time period within the first time period; determine the magnitude and direction of a fourth vector based on the current typhoon information, wherein the fourth vector has the same magnitude and opposite direction as the current typhoon vector corresponding to the current typhoon information; determine a target column from the multiple floating columns based on the fourth vector and the first vectors corresponding to the multiple floating columns, wherein a target first vector corresponding to the target column and a target second angle of the fourth vector with respect to the target column is the smallest among multiple second angles between the multiple first vectors and the fourth vectors, and the first vector is a vector pointing from the center of gravity of the floating body toward the floating column; decompose the fourth vector based on the target second angle, the direction of the fifth vector, and the direction of the target first vector to determine the magnitude of the first vector and the magnitude of the fifth vector, wherein the direction of the fifth vector is determined based on the directions of the first vector and the fourth vector; and adjust the water level difference of the multiple floating columns at the current moment based on the magnitude of the first vector and the magnitude of the fifth vector.

[0106] In some embodiments, the adjustment module 1006 is also used to determine the current shaking amplitude of the floating body at the current moment according to the second time period within the first time period when the working mode is the third mode; and adjust the water level difference of the multiple floating columns at the current moment according to the current shaking amplitude.

[0107] In some embodiments, the adjustment module 1006 is further configured to, when the operating mode is the first mode, determine a target column among the multiple floating columns according to the first vectors corresponding to the multiple floating columns, and determine a target first angle between a second vector and the target first vector corresponding to the target column, wherein the target first angle is the smallest among the multiple first angles between the multiple first vectors and the second vectors, the first vector is a vector pointing from the center of gravity of the floating body toward the floating column, and the magnitude of the second vector is the same as the magnitude and opposite in direction to the wind vector of the typhoon; control the floating body to adjust its posture according to the magnitude of the target first angle so that the target first vector corresponding to the target column is in the same direction as the second vector; pump liquid from floating columns other than the target column among the multiple floating columns into the target column within a second time period until the water level of the liquid in the target column reaches a maximum, and control the wind turbine to stop working, wherein the second time period is before the first time period.

[0108] In some embodiments, the adjustment module 1006 is further configured to, during the process of adjusting the water level difference of the plurality of floating columns, obtain an average value of the water levels of the liquids in the plurality of floating columns within a third time period, determine the average value as the water level height values ​​of the plurality of floating columns, and calculate the water level difference of the plurality of floating columns at a target time based on the plurality of water level height values ​​to determine whether the adjustment of the water level difference of the plurality of floating columns is complete.

[0109] An embodiment of the third aspect of the present disclosure provides a computer-readable storage medium, in which a computer program is stored, wherein the computer program is configured to execute the steps of any one of the method embodiments of the first aspect when run.

[0110] As an example, in some embodiments, the storage medium may be configured to store a computer program for performing the following steps:

[0111] S1, when it is predicted that a typhoon will arrive within a first time period, determining typhoon information of the typhoon, wherein the typhoon information includes: typhoon wind force and typhoon wind direction;

[0112] S2, determining an operating mode of a target system according to the typhoon information, wherein the target system is used to control a sway amplitude of a floating body, wherein the floating body is used to carry a wind turbine, and the sway amplitude is used to describe the stability of the floating body;

[0113] S3, adjusting the water level difference of the plurality of floating columns of the floating body according to the working mode, so as to control the swaying amplitude of the floating body in the first time period by the water level difference.

[0114] In some embodiments, the computer-readable storage medium may include, but is not limited to, various media that can store computer programs, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk, or an optical disk.

[0115] For specific examples in the embodiments of the present disclosure, reference may be made to the examples described in the above embodiments and exemplary implementations, and no further details will be given here.

[0116] An embodiment of the fourth aspect of the present disclosure provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to execute the steps of any method embodiment of the first aspect.

[0117] As an example, in some embodiments, the processor may be configured to perform the following steps via a computer program:

[0118] S1, when it is predicted that a typhoon will arrive within a first time period, determining typhoon information of the typhoon, wherein the typhoon information includes: typhoon wind force and typhoon wind direction;

[0119] S2, determining an operating mode of a target system according to the typhoon information, wherein the target system is used to control a sway amplitude of a floating body, wherein the floating body is used to carry a wind turbine, and the sway amplitude is used to describe the stability of the floating body;

[0120] S3, adjusting the water level difference of the plurality of floating columns of the floating body according to the working mode, so as to control the swaying amplitude of the floating body in the first time period by the water level difference.

[0121] In some embodiments, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor, and the input / output device is connected to the processor.

[0122] An embodiment of the fifth aspect of the present disclosure provides a computer program product, including a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium stores a computer program product, and when the computer program is executed by a processor, the steps of any method embodiment of the first aspect are implemented.

[0123] As an example, in some embodiments, the above computer program may be configured to implement the following steps when executed by a processor:

[0124] S1, when it is predicted that a typhoon will arrive within a first time period, determining typhoon information of the typhoon, wherein the typhoon information includes: typhoon wind force and typhoon wind direction;

[0125] S2, determining an operating mode of a target system according to the typhoon information, wherein the target system is used to control a sway amplitude of a floating body, wherein the floating body is used to carry a wind turbine, and the sway amplitude is used to describe the stability of the floating body;

[0126] S3, adjusting the water level difference of the plurality of floating columns of the floating body according to the working mode, so as to control the swaying amplitude of the floating body in the first time period by the water level difference.

[0127] For specific examples in the embodiments of the present disclosure, reference may be made to the examples described in the above embodiments and exemplary implementations, and no further details will be given here.

[0128] An embodiment of the sixth aspect of the present disclosure provides a computer program, including computer program code, which, when executed on a computer, enables the computer to execute the steps of any one of the method embodiments of the first aspect.

[0129] As an example, in some embodiments, the above computer program code may be configured to implement the following steps when executed on a computer:

[0130] S1, when it is predicted that a typhoon will arrive within a first time period, determining typhoon information of the typhoon, wherein the typhoon information includes: typhoon wind force and typhoon wind direction;

[0131] S2, determining an operating mode of a target system according to the typhoon information, wherein the target system is used to control a sway amplitude of a floating body, wherein the floating body is used to carry a wind turbine, and the sway amplitude is used to describe the stability of the floating body;

[0132] S3, adjusting the water level difference of the plurality of floating columns of the floating body according to the working mode, so as to control the swaying amplitude of the floating body in the first time period by the water level difference.

[0133] For specific examples in the embodiments of the present disclosure, reference may be made to the examples described in the above embodiments and exemplary implementations, and no further details will be given here.

[0134] It should be noted that the explanations of the method and device for controlling the sway amplitude of the floating body in the aforementioned embodiments are also applicable to the computer-readable storage medium, electronic device, computer program product and computer program of the embodiments of the present disclosure, and will not be repeated here.

[0135] All embodiments of the present disclosure may be implemented individually or in combination with other embodiments, and are all considered to be within the scope of protection claimed by the present disclosure.

[0136] Obviously, those skilled in the art should understand that the modules or steps of the present disclosure described above can be implemented using a general-purpose computing device, they can be concentrated on a single computing device, or distributed across a network composed of multiple computing devices, they can be implemented using program code executable by the computing device, and thus, they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be performed in a different order than herein, or they can be fabricated into separate integrated circuit modules, or multiple modules or steps can be fabricated into a single integrated circuit module for implementation. Thus, the present disclosure is not limited to any particular combination of hardware and software.

[0137] The above is only a preferred embodiment of the present disclosure. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present disclosure. These improvements and modifications should also be regarded as within the scope of protection of the present disclosure.

Claims

1. A method for controlling the sway amplitude of a floating body, characterized in that: include: In the case where it is predicted that a typhoon will arrive within the first time period, determining typhoon information of the typhoon, wherein the typhoon information includes: typhoon wind force and typhoon wind direction; determining an operating mode of a target system according to the typhoon information, wherein the target system is used to control a sway amplitude of a floating body, wherein the floating body is used to carry a wind turbine, and the sway amplitude is used to describe the stability of the floating body; The water level difference of the plurality of floating columns of the floating body is adjusted according to the working mode, so as to control the shaking amplitude of the floating body in the first time period through the water level difference.

2. The method according to claim 1, characterized in that Determining an operating mode of a target system according to the typhoon information includes: When the typhoon wind force is greater than or equal to a first preset threshold, determining that the operating mode of the target system is the first mode; When the typhoon wind force is greater than or equal to a second preset threshold and less than the first preset threshold, determining that the operating mode of the target system is the second mode; When the typhoon wind force is less than the second preset threshold, the operating mode of the target system is determined to be the third mode.

3. The method according to claim 2, characterized in that Adjusting the water level difference of the plurality of floating columns of the floating body according to the working mode includes: When the operating mode is the first mode, a target column is determined from among the plurality of floating columns according to first vectors corresponding to the plurality of floating columns, wherein a target first angle between a target first vector and a second vector corresponding to the target column is the smallest among a plurality of first angles between the plurality of first vectors and the second vectors, the first vector is a vector pointing from the center of gravity of the floating body toward the floating column, and the second vector has the same magnitude as and an opposite direction to the wind vector of the typhoon; Decomposing the second vector according to the target first angle, the direction of the third vector, and the direction of the target first vector to determine the magnitude of the first vector and the magnitude of the third vector, wherein the direction of the third vector is determined according to the directions of the first vector and the second vector; The water level difference of the plurality of floating columns is adjusted according to the magnitude of the first vector and the magnitude of the third vector within a second time period, and the wind turbine is controlled to stop working, wherein the second time period is before the first time period.

4. The method according to claim 2, characterized in that Adjusting the water level difference of the plurality of floating columns of the floating body according to the working mode includes: When the working mode is the second mode, obtaining current typhoon information of the typhoon at a current moment according to a first time period within the first time period; determining the magnitude and direction of a fourth vector according to the current typhoon information, wherein the fourth vector has the same magnitude and opposite direction as the current typhoon vector corresponding to the current typhoon information; determining a target column from among the plurality of floating columns based on the fourth vector and first vectors corresponding to the plurality of floating columns, wherein a target second angle between the target first vector corresponding to the target column and the fourth vector is the smallest among a plurality of second angles between the plurality of first vectors and the fourth vector, and the first vector is a vector pointing from the center of gravity of the floating body toward the floating column; Decomposing the fourth vector according to the target second angle, the direction of the fifth vector, and the direction of the target first vector to determine the magnitude of the first vector and the magnitude of the fifth vector, wherein the direction of the fifth vector is determined according to the directions of the first vector and the fourth vector; The water level difference of the plurality of floating columns is adjusted at the current moment according to the magnitude of the first vector and the magnitude of the fifth vector.

5. The method according to claim 2, characterized in that Adjusting the water level difference of the plurality of floating columns of the floating body according to the working mode includes: When the working mode is the third mode, determining the current sway amplitude of the floating body at the current moment according to a second time period within the first time period; The water level difference of the plurality of floating columns is adjusted at the current moment according to the current sway amplitude.

6. The method according to claim 2, characterized in that Adjusting the water level difference of the plurality of floating columns of the floating body according to the working mode includes: When the operating mode is the first mode, a target column is determined from among the plurality of floating columns according to the first vectors corresponding to the plurality of floating columns, and a magnitude of a target first angle between a second vector and the target first vector corresponding to the target column is determined, wherein the target first angle is the smallest among a plurality of first angles between the plurality of first vectors and the second vector, the first vector being a vector pointing from the center of gravity of the floating body toward the floating column, and the second vector being equal in magnitude to and opposite in direction to the wind vector of the typhoon; Controlling the floating body to adjust the floating body posture according to the size of the target first angle so that the target first vector corresponding to the target column is in the same direction as the second vector; During a second time period, liquid in floating columns other than the target column among the plurality of floating columns is pumped into the target column until the water level of the liquid in the target column reaches a maximum, and the wind turbine is controlled to stop working, wherein the second time period is before the first time period.

7. The method according to any one of claims 1 to 6, characterized in that The method further comprises: In the process of adjusting the water level difference of the plurality of floating columns, obtaining an average value of the water levels of the liquids of the plurality of floating columns within a third time period, and determining the average value as the water level height value of the plurality of floating columns; The water level difference of the plurality of floating columns at the target time is calculated according to the plurality of water level height values ​​to determine whether the water level difference of the plurality of floating columns is adjusted.

8. A device for controlling the swaying amplitude of a floating body, characterized in that: include: A first determining module is configured to determine typhoon information of the typhoon when it is predicted that the typhoon will arrive within a first time period, wherein the typhoon information includes: typhoon wind force and typhoon wind direction; a second determining module, configured to determine an operating mode of a target system according to the typhoon information, wherein the target system is configured to control a sway amplitude of a floating body, wherein the floating body is configured to carry a wind turbine, and the sway amplitude is configured to describe the stability of the floating body; An adjustment module is used to adjust the water level difference of the multiple floating columns of the floating body according to the working mode, so as to control the shaking amplitude of the floating body in the first time period through the water level difference.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein the program, when executed, executes the method for controlling the sway amplitude of a floating body according to any one of claims 1 to 7.

10. An electronic device comprising a memory and a processor, characterized in that: The memory stores a computer program, and the processor is configured to execute the method for controlling the sway amplitude of a floating body according to any one of claims 1 to 7 through the computer program.

11. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the method for controlling the swaying amplitude of a floating body according to any one of claims 1 to 7 is implemented.

12. A computer program comprising computer program codes, which, when executed on a computer, enable the computer to execute the method for controlling the sway amplitude of a floating body according to any one of claims 1 to 7.

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