CN105974927A - Anchorless water-floating power station system - Google Patents
Anchorless water-floating power station system Download PDFInfo
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- CN105974927A CN105974927A CN201610590911.3A CN201610590911A CN105974927A CN 105974927 A CN105974927 A CN 105974927A CN 201610590911 A CN201610590911 A CN 201610590911A CN 105974927 A CN105974927 A CN 105974927A
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- 238000007667 floating Methods 0.000 title claims abstract description 109
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 107
- 238000000034 method Methods 0.000 claims description 31
- 238000006073 displacement reaction Methods 0.000 claims description 27
- 238000005183 dynamical system Methods 0.000 claims description 27
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- 230000015572 biosynthetic process Effects 0.000 claims description 21
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- 230000008859 change Effects 0.000 claims description 8
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- 238000012544 monitoring process Methods 0.000 claims description 4
- 230000005855 radiation Effects 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims 1
- 230000003044 adaptive effect Effects 0.000 abstract 1
- 238000003491 array Methods 0.000 description 23
- 230000007547 defect Effects 0.000 description 3
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- 230000008901 benefit Effects 0.000 description 2
- 239000004567 concrete Substances 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000004873 anchoring Methods 0.000 description 1
- 230000002547 anomalous effect Effects 0.000 description 1
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- 238000010276 construction Methods 0.000 description 1
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- 230000011664 signaling Effects 0.000 description 1
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- 229910001220 stainless steel Inorganic materials 0.000 description 1
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24S—SOLAR HEAT COLLECTORS; SOLAR HEAT SYSTEMS
- F24S20/00—Solar heat collectors specially adapted for particular uses or environments
- F24S20/70—Waterborne solar heat collector modules
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
- H02S10/00—PV power plants; Combinations of PV energy systems with other systems for the generation of electric power
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
- H02S20/00—Supporting structures for PV modules
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/40—Solar thermal energy, e.g. solar towers
- Y02E10/47—Mountings or tracking
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
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- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Sustainable Energy (AREA)
- Thermal Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Photovoltaic Devices (AREA)
Abstract
The invention discloses an anchorless water-floating power station system, which comprises a water-floating power station, a GPS positioning system, a power system and a control system. The GPS positioning system is used for carrying out GPS positioning on the water-floating power station; the power system is used for driving movement of the water-floating power station; and the control system is used for controlling the power system according to the GPS positioning information of the GPS positioning system. Tracking and positioning of a photovoltaic array are realized through cooperation of the GPS positioning system and the power system fixedly arranged on the photovoltaic array, and an anchorless mode is realized; through the control of the power system, the photovoltaic array is allowed to move according to a preset motion track of the system easily; and the whole photovoltaic array is anchored by controlling the power system, and no anchor cable is connected between the photovoltaic array and the water bottom, so that the photovoltaic array forms a large-scale movable water platform, and can be adaptive to any water level.
Description
Technical field
The present invention relates to a kind of electric power station system, particularly relate to a kind of without anchor floating on water electric power station system.
Background technology
At present, all floating power station all must use anchor system system to be fixed power station, and anchor system system is removed
Want to bear outside the maximum weighted of whole photovoltaic arrays, in addition it is also necessary to can adapt to certain SEA LEVEL VARIATION,
And control its maximum horizontal displacement.System specifically include that anchor cleat, water-bed anchorage, balancing weight and various
Switching accessory.As it is shown in figure 1, photovoltaic module 1 is fixed on floating drum 2, floating drum 2 realize floating formation
Floating on water power station, anchor chain 3 is connected to anchor block 4.Anchor chain 3 typically use STAINLESS STEEL CHAINS, steel wire rope or
The hawser of the various macromolecular material of person；The most water-bed anchorage of anchor block 4, mainly uses reinforced concrete block
Or tradition wedge angle anchor.Currently, the tracking realizing assembly on floating power station is highly difficult, not maturation
Scheme.
This anchor system system is extremely complex, needs according to the concrete weather conditions in site, water wave data, the bottom
Landform etc. carry out specific design, but this anchor system system is appointed and so had following insoluble defect:
1. anchor system system design complexity, the SEA LEVEL VARIATION that very difficult adaptation is bigger, and horizontal displacement is in dry season
More difficult control；
2. anchor system system long period of soaking is in water, and its corrosion resistance problem is difficult to accomplish high performance-price ratio；
3. anchor system system is the most intricate, and O&M is highly difficult；
4. due to the constraint of anchor system system, it is impossible to rotate whole square formation platform and realize the tracking in power station.
Summary of the invention
The present invention is once overturning floating power station anchor system's systems technology, mainly for above technological difficulties and
Defect, it is provided that a kind of without anchor floating on water electric power station system, owing to without anchor system system, drawbacks described above is the most not
Multiple existence.
The solution of the present invention is: a kind of without anchor floating on water electric power station system, it include floating on water power station,
GPS alignment system, dynamical system, control system；Described GPS alignment system is for described floating on water
Power station carries out GPS location；Described dynamical system is for driving the displacement in described floating on water power station；Described control
System processed positions information for the GPS according to described GPS alignment system and controls described dynamical system.
As the further improvement of such scheme, described dynamical system is for being arranged on described floating on water power station four
The power spin paddle structure in week；Each power spin paddle structure includes mounting seat, and is arranged on described installation
Power source one on seat, propeller, drive shaft, ball roller bearing, alignment pin, straight-tooth wheels, power
Source two, thrust ball bearing, protecting pipe, bevel gear set；Whole power spin paddle structure is by described mounting seat
It is fixed on described floating power station；Described driving motor transmits power, described driving by described drive shaft
Axle changes the driving direction of power by described bevel gear set, is ultimately applied to described propeller, produces driving side
The power of battle array movement；Described motor passes through described straight-tooth wheels, described alignment pin, described thrust ball axle
Hold the described protecting pipe of driving, change the driving direction of described propeller.
Further, described power source one is for driving motor, and described power source two is motor.
As the further improvement of such scheme, described GPS alignment system includes a base station and at least two
Platform gps receiver, wherein a gps receiver is arranged on described base station, remaining gps receiver
It is arranged on described floating on water power station.
Further, described control system includes azimuth control mode: first pass through described GPS location system
System determines the real-time position in floating on water power station described in the initial position in described floating on water power station and Real-time Collection
Put, and described real time position is compared with described initial position, confirm the inclined of described floating on water power station
Move the azimuth of design attitude, made the azimuthal displacement amount in described floating on water power station by described dynamical system
It is zero.
Yet further, it is assumed that the design attitude being arranged on the gps receiver on described floating on water power station is
A0: (A0x,A0y,A0Z) and offset after real time position be A:(Ax, Ay, Az), zero is O:(Ox,
Oy,Oz)；
The control method of described azimuth control mode is:
Recipient's parallactic angle side-play amount θ, θ is vector A0Angle between 0 and vector A0；
Azimuthal side-play amount θ is filtered；
Adoption rate integral control method, first-selection determines that control deviation is △ θ, coordinates to control each power spin
The linear velocity of propeller in paddle structure, it is ensured that the angular velocity that each propeller rotates around zero O is identical and angle
Acceleration is identical；When within azimuthal displacement amount θ in described floating on water power station is at ± △ θ, i.e. complete institute
The azimuth stating floating on water power station controls.
Preferably, when the gps receiver quantity being arranged on described floating on water power station is multiple, the other side
Parallactic angle side-play amount θ also needs weighting to process after being filtered, and filters and weights processing mode and be:
Gather the real time position of multiple gps receiver；
Calculate azimuthal displacement amount θ of multiple gps receiver1、θ2、θ3、……；
Azimuthal side-play amount θ1、θ2、θ3..., to arrange from small to large: θLittle、θSecondary little……θSecondary greatly、θGreatly；
Computer azimuth angle offset θ1、θ2、θ3... standard deviation β；
Judge that whether β is less than △ β, in this way, then azimuthal side-play amount θ1、θ2、θ3... add
Weigh and average；
As β is unsatisfactory for less than △ β, then judging whether | θGreatly-θLittle| ＜ Δ β1, in this way, then azimuthal is inclined
Shifting amount θ1、θ2、θ3... it is weighted and averages；
As being unsatisfactory for | θGreatly-θLittle| ＜ Δ β1, then θ is removedGreatly、θLittleForm new ordered series of numbers；
Judge that the number of members of new ordered series of numbers, whether more than 3, if it is returns step: computer azimuth angle is inclined
Shifting amount θ1、θ2、θ3... standard deviation β, the otherwise real time position of the multiple gps receiver of Resurvey,
Wherein, △ β, β1It is and presets threshold values.
Further, it is assumed that the design attitude being arranged on the gps receiver on described floating on water power station is
A0: (A0x,A0y,A0Z) and offset after real time position be A:(Ax, Ay, Az), zero is O:(Ox,
Oy,Oz)；Described control system includes horizontal translation control mode；The control of described horizontal translation control mode
Method is: vector A0A is the horizontal displacement of whole square formation, adoption rate integral control method, and first-selection is really
Determining control deviation is △ D, adjusts the direction of propeller and vector AA in all power spin paddle structures0It is identical,
When within the horizontal displacement in described floating on water power station is at ± △ D, i.e. complete horizontal translation control.
Yet further, when the gps receiver quantity being arranged on described floating on water power station is multiple,
Also needing weighting to process after filtering control deviation amount D, filtering and weight processing mode is:
Gather the real time position of multiple gps receiver；
Calculate control deviation amount d of multiple gps receiver1、d2、d3、……；
To control deviation amount d1、d2、d3..., to arrange from small to large: dLittle、dSecondary little……dSecondary Greatly、dGreatly
Calculate control deviation amount d1、d2、d3... standard deviation d；
Judge whether d is less than △ d, in this way, then to control deviation amount d1、d2、d3... it is weighted also
Average；
As d is unsatisfactory for less than △ d, then judging whether | dGreatly-dLittle| ＜ Δ d1, in this way, then to control deviation
Amount d1、d2、d3... it is weighted and averages；
As being unsatisfactory for | dGreatly-dLittle| ＜ Δ d1, then d is removedGreatly、dLittleForm new ordered series of numbers；
Judge that the number of members of new ordered series of numbers, whether more than 3, if it is returns step: calculate control deviation
Amount d1、d2、d3... standard deviation d, the otherwise real time position of the multiple gps receiver of Resurvey,
Wherein, △ d, d1It is and presets threshold values.
Preferably, three kinds of operational modes of described Control System Design: station-keeping mode, tracing mode, hedging mould
Formula；Wherein,
Station-keeping mode: by position and the azimuth in the described floating on water power station of design, control system is real-time
Detect the attitude in whole described floating on water power station, when the horizontal translation in described floating on water power station is beyond setting
Determine scope ± △ D or azimuth beyond ± △ θ, control horizontal displacement again by first controlling party parallactic angle
Order makes it reset；
Tracing mode: tracing mode refer to whole floating on water power station with zero as O:(Ox, Oy, Oz)
On the basis of, in horizontal plane, change its azimuth, it is ensured that solar components whole day all faces the sun, it is ensured that
Receive maximum solar radiation energy；
Hedging pattern: according to weather forecast, under extreme weather conditions, rotates floating on water power station extremely in advance
The azimuth specified, makes floating on water power station wind area minimum, it is ensured that not topple in floating on water power station
Or break risk；According to water level monitoring system, in dry season, mobile floating on water power station to clear waters,
Guarantee that floating on water power station does not occur waters to dry up stranded risk.
The present invention uses the cooperation of GPS alignment system and dynamical system fixing on photovoltaic arrays to realize
The tracking of photovoltaic arrays and location, owing to without anchor system system, the aforementioned four defect in background technology is all
Do not exist.And due to the constraint without anchor system system, by the control to dynamical system, can be very
Easily allow photovoltaic arrays run according to the movement locus that control system is set (including: position, rotate, translate
Etc.).Owing to the anchoring of whole square formation completes by controlling dynamical system, and do not have between the bottom
The contact that anchor cleats, photovoltaic arrays defines a large-scale removable pier, is adapted to any
Water level.
Accompanying drawing explanation
Fig. 1 is the structural representation of existing anchor system.
Fig. 2 is that the present invention follows the tracks of the structural representation of floating power station system without the anchor water surface.
Fig. 3 is the structural representation of the power spin paddle structure of Fig. 2 medium power system.
Coordinate filtration combined weighted process chart when Fig. 4 is embodiment 1 azimuth control mode.
Coordinate filtration combined weighted process chart when Fig. 5 is embodiment 1 horizontal translation control mode.
Fig. 6 is that the present invention follows the tracks of the virtual coordinates schematic diagram of floating power station system without the anchor water surface.
Coordinate filtration combined weighted process chart when Fig. 7 is embodiment 2 azimuth control mode.
Fig. 8 is the modular structure schematic diagram of azimuth control mode in Fig. 7.
Coordinate filtration combined weighted process chart when Fig. 9 is embodiment 2 horizontal translation control mode.
Figure 10 is the modular structure schematic diagram of horizontal translation control mode in Fig. 9.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with accompanying drawing and reality
Execute example, the present invention is further elaborated.Only should be appreciated that specific embodiment described herein
Only in order to explain the present invention, it is not intended to limit the present invention.
Referring to Fig. 2, the electric power station system of floating on water without anchor of the present embodiment includes floating on water power station, GPS
Alignment system, dynamical system 3, control system 4.GPS alignment system is for carrying out floating on water power station
GPS positions；Dynamical system 3 is for driving the displacement in floating on water power station；Control system 4 is for according to GPS
The GPS location information of alignment system controls dynamical system 3.
Floating on water power station is the control object of control system 4, is floating square formation in the present embodiment, including
Numerous buoyancy aids 1, the numerous photovoltaic modulies 2 being arranged on these buoyancy aids 1 and these buoyancy aids 1 are connected into
The connector (sign) of floating square formation.
GPS alignment system includes base station 5 with the gps receiver being arranged on floating on water power station (such as
It is arranged on four angles in floating on water power station), GPS quantity (the i.e. GPS that floating on water power station is installed
Receptor quantity) no less than 2.Being arranged on base station 5 with a gps receiver 7, other GPS connect
Receiving device 7 to be arranged on floating on water power station, these gps receiver 7 simultaneous observation same satellite, to determine
It is arranged on the real-time position relative to reference value of the gps receiver 7 on photovoltaic arrays (i.e. floating on water power station)
Put, and then by the calculating to gps receiver 7 position, determine the real-time attitude of photovoltaic arrays.
Dynamical system 3 refers to be arranged on the power spin paddle structure of photovoltaic arrays surrounding, as it is shown on figure 3, each
Power spin paddle structure includes mounting seat 121, and be arranged in mounting seat 121 power source one, spiral
Oar 11, drive shaft 12, ball roller bearing 13, alignment pin 14, straight-tooth wheels 15, power source two, push away
Power ball bearing 17, protecting pipe 19, bevel gear set 120.Power source one can be to drive motor 10, power source two
It can be motor 16.Before this, existing floating on water power station all uses cable anchor, does not all propose
This design concept of dynamical system.
Offering some fixing holes 18 in mounting seat 121, whole power spin paddle structure passes through fixing hole 18
And be fixed on photovoltaic arrays.Driving motor 10 to transmit power by drive shaft 12, drive shaft 12 is by cone
Gear train 120 changes the driving direction of power, is ultimately applied to propeller 11, and it is dynamic that generation driving square formation moves
Power.Motor 16 drives protecting pipe 19 by straight-tooth wheels 15, alignment pin 14, thrust ball bearing 17,
Change the driving direction of propeller 11.Thus, propeller 11 can 360 ° of adjustment direction of level, propeller
11 control commands receiving control system 4 provide power for whole photovoltaic arrays, it is achieved the translation of photovoltaic arrays
And selection.
Control system 4 includes wireless transceiver, computer control system, monitoring system.Wireless transceiver is used
In receiving the position signalling of photovoltaic arrays that GPS alignment system determines, by different operational mode (follow the tracks of,
Location) control dynamical system 3, it is achieved and photovoltaic arrays is at the fixing of the water surface and follows the tracks of.
Control system 4 mainly has two kinds of control modes to dynamical system 3: azimuth control mode and level are put down
Moving control mode, this is the Research Emphasis of this case, description the most in detail below.
Azimuth control mode: first pass through described GPS alignment system and determine at the beginning of described floating on water power station
The real time position in floating on water power station described in beginning position and Real-time Collection, and by described real time position with described at the beginning of
Beginning position compares, and confirms the azimuth of the offset design position in described floating on water power station, by described
Dynamical system makes the azimuthal displacement amount in described floating on water power station be zero.
Assuming that the design attitude of the gps receiver being arranged on described floating on water power station is A0:
(A0x,A0y,A0Z) and offset after real time position be A:(Ax, Ay, Az), zero is O:(Ox, Oy,
Oz)；
The control method of described azimuth control mode is: recipient's parallactic angle side-play amount θ, and θ is vector A00
And the angle between vector A0；Azimuthal side-play amount θ is filtered；Adoption rate integral control method,
First-selection determines that control deviation is △ θ, coordinates to control the linear velocity of propeller in each power spin paddle structure, really
Protect the angular velocity that each propeller rotates around zero O identical identical with angular acceleration；When described floating on water
When azimuthal displacement amount θ in power station is within ± △ θ, the azimuth i.e. completing described floating on water power station controls.
As shown in Figure 4, when the gps receiver quantity being arranged on described floating on water power station is multiple
There is location receivers A, B, C ..., azimuthal side-play amount θ also needs weighting to process after being filtered,
Filtering and weight processing mode is:
Gather the real time position of multiple gps receiver；
Calculate azimuthal displacement amount θ of multiple gps receiver1、θ2、θ3、……；
Azimuthal side-play amount θ1、θ2、θ3..., to arrange from small to large: θLittle、θSecondary little、……、
θSecondary greatly、θGreatly；
Computer azimuth angle offset θ1、θ2、θ3... standard deviation β；
Judge that whether β is less than △ β, in this way, then azimuthal side-play amount θ1、θ2、θ3... add
Weigh and average；
As β is unsatisfactory for less than △ β, then judging whether | θGreatly-θLittle| ＜ Δ β1, in this way, then azimuthal is inclined
Shifting amount θ1、θ2、θ3... it is weighted and averages；
As being unsatisfactory for | θGreatly-θLittle| ＜ Δ β1, then θ is removedGreatly、θLittleForm new ordered series of numbers；
Judge that the number of members of new ordered series of numbers, whether more than 3, if it is returns step: computer azimuth angle is inclined
Shifting amount θ1、θ2、θ3... standard deviation β, the otherwise real time position of the multiple gps receiver of Resurvey,
Wherein, △ β, β1It is and presets threshold values.
The control method of described horizontal translation control mode is: vector A0A is the horizontal displacement of whole square formation,
Adoption rate integral control method, first-selection determines that control deviation is △ D, adjusts all power spin paddle structures
The direction of middle propeller and vector AA0Identical, when described floating on water power station horizontal displacement ± △ D with
Time interior, i.e. complete horizontal translation control.
As it is shown in figure 5, when the gps receiver quantity being arranged on described floating on water power station is multiple,
Also needing weighting to process after filtering control deviation amount D, filtering and weight processing mode is:
Gather the real time position of multiple gps receiver；
Calculate control deviation amount d of multiple gps receiver1、d2、d3、……；
To control deviation amount d1、d2、d3..., to arrange from small to large: dLittle、dSecondary little……dSecondary Greatly、dGreatly
Calculate control deviation amount d1、d2、d3... standard deviation d；
Judge whether d is less than △ d, in this way, then to control deviation amount d1、d2、d3... it is weighted also
Average；
As d is unsatisfactory for less than △ d, then judging whether | dGreatly-dLittle| ＜ Δ d1, in this way, then to control deviation
Amount d1、d2、d3... it is weighted and averages；
As being unsatisfactory for | dGreatly-dLittle| ＜ Δ d1, then d is removedGreatly、dLittleForm new ordered series of numbers；
Judge that the number of members of new ordered series of numbers, whether more than 3, if it is returns step: calculate control deviation
Amount d1、d2、d3... standard deviation d, the otherwise real time position of the multiple gps receiver of Resurvey,
Wherein, △ d, d1It is and presets threshold values.
The control method of the electric power station system of floating on water without anchor is also one of emphasis of the present invention, therefore, then carries out
Being discussed in detail, gps receiver 7 fixing on photovoltaic arrays is illustrated as a example by three, is respectively
Gps receiver A, gps receiver B, gps receiver C, initial point is O, and its position is respectively A:
(Ax, Ay, Az), B:(Bx, By, Bz), C:(Cx, Cy, Cz), O (Ox, Oy, Oz)；Wherein,
Set the geometric center of photovoltaic arrays as O (Ox, Oy, Oz)；It is arranged on the power spin oar 11 of square formation surrounding
Position is D1:(D1x,D1y,D1z)、D2:(D2x,D2y,D2z)、D3:(D3x,D3y,D3Z) ..., as shown in Figure 6.
Assuming that the design attitude of gps receiver A, B is A0:(A0x, A0y, A0z) and B0:
(B0x,B0y,B0z)。
1) azimuth controls
First pass through GPS alignment system and determine initial position and the drift of the Real-time Collection water surface in floating on water power station
The real time position in floating power station, and described real time position is compared with described initial position, confirm water surface drift
The azimuth of the offset design position in floating power station, the azimuth being made floating on water power station by dynamical system 3 is inclined
Shifting amount is zero.
First determine two fixing gps receivers in independent square formation, and record its initial position, i.e. set
The position location that meter requires.By the real time position of information acquisition system Real-time Collection GPS, and with design position
Put and compare, confirm the corner of its offset design position, by control dynamical system make its corner skew be
Zero.
The control method that concrete azimuth controls is as follows: azimuthal displacement amount θ is vector A000 and vector A0
Between angle, system identify simultaneously vector B000 and vector BO and vector C000 and vector CO between
Angle, control acquisition system and be filtered facing to these three angle, weighting etc. processes, and ensures to be gathered
The accuracy of azimuthal displacement amount θ, the control method such as adoption rate integration control, first-selection determines that control is partially
Difference is △ θ, coordinates to control the linear velocity of each propeller, it is ensured that the angle that each propeller rotates around geometric center
Speed is identical identical with angular acceleration.When within the azimuth of square formation is at ± △ θ, i.e. complete azimuth control
System.
A, B, C, O coordinate filtration combined weighted handling process such as Fig. 7, wherein △ β, β 1 are for presetting valve
Value.Azimuth control as shown in Figure 8: by A, B, C, O coordinate, then filter, weighting process, so
Processed by feedback deviation afterwards, then output control information, driving power system.
2) horizontal translation controls
The methods such as vector A0A is the horizontal displacement of whole square formation, adoption rate integration control, first-selection determines
Control deviation is △ D, and the direction adjusting all power spin oars is identical, when the level of square formation with vector AA0
When displacement is within ± △ D, i.e. complete horizontal translation control.To the filtering of coordinate, weighting processing procedure with
Azimuth control flow is similar to.As shown in Figure 9: wherein △ d, △ d1 is threshold values set in advance.Horizontal position
Move and control as indicated by 10.
The electric power station system of floating on water without anchor of the present invention, control system is in operational mode below major design
Three kinds of modes.
1) station-keeping mode
By square formation position and the azimuth of design, control system detects the attitude of whole square formation, the side of working as in real time
Battle array horizontal translation beyond set point ± △ D or azimuth beyond ± △ θ, by first control azimuth
Angle controls the order of horizontal displacement again makes it reset.
2) tracing mode
Tracing mode refers to that whole photovoltaic arrays can change it on the basis of its geometric center in horizontal plane
Azimuth, it is ensured that solar components whole day all faces the sun, it is ensured that receive maximum solar radiation energy.
First, plan the movement locus of photovoltaic arrays the most in advance, i.e. 24 (azimuth, time
Between) sequence, control to make whole square formation navigate to the azimuth specified by azimuth in the time of regulation, with
Time checking computations whether have horizontal shift, if horizontal displacement beyond its permissible value, needs by horizontal translation control
Make it reset.
3) hedging pattern
Under extreme weather conditions, (the warning yellow such as weather forecast can be determined according to weather forecast
Etc., the when of anomalous weather, weather forecast all can illustrate), rotate photovoltaic arrays in advance to specifying
Azimuth so that it is wind area is minimum, it is ensured that do not topple or break equivalent risk in power station；
In dry season, can be according to water level monitoring system, mobile photovoltaic arrays is to clear waters, it is ensured that do not send out
Dry up stranded risk in unboiled water territory.The method needs power-off in advance.
In sum, present invention have an advantage that
1. the positional information of support with bolting system Real-time Collection GPS, controls dynamical system in real time by control system
System, it is ensured that photovoltaic arrays berths in specifying region；
2. active path planning computer control system cooks up the pursuit path of whole photovoltaic arrays in advance, logical
Cross the position feedback information of gps receiver, control dynamical system by specifying path planning to run, it is achieved photovoltaic
The tracking of square formation runs；
3., by the position feedback information of gps receiver, when there is dry risk in waters, can stop sending out
Electricity, and by dynamical system, photovoltaic arrays is drawn to clear waters.
Beneficial effects of the present invention is as follows:
1. use this system can save the design of tradition anchor system system complex, construction working；
2., by system tracing mode, the fixing square formation of change, into following the tracks of square formation, can effectively improve gene-ration revenue；
3., for the change of water level, there is the strongest adaptation ability；
4., under limit inclement weather conditions, by dynamical system, photovoltaic arrays can be drawn to place of safety
Territory；
5. the installation of this system is convenient, and cost is relatively low.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all at this
Any amendment, equivalent and the improvement etc. made within bright spirit and principle, should be included in the present invention
Protection domain within.
Claims (10)
1., without an anchor floating on water electric power station system, it includes floating on water power station；It is characterized in that: it is also
Including GPS alignment system, dynamical system, control system；Described GPS alignment system is for described water
Face floating power station carries out GPS location；Described dynamical system is for driving the displacement in described floating on water power station；
Described control system positions information for the GPS according to described GPS alignment system and controls described dynamical system.
2. as claimed in claim 1 without anchor floating on water electric power station system, it is characterised in that: described dynamical system
System is the power spin paddle structure being arranged on described floating on water power station surrounding；Each power spin paddle structure bag
Include mounting seat, and be arranged in described mounting seat power source one, propeller, drive shaft, ball roller
Bearing, alignment pin, straight-tooth wheels, power source two, thrust ball bearing, protecting pipe, bevel gear set；Whole
Power spin paddle structure is fixed on described floating power station by described mounting seat；Described driving motor passes through
Described drive shaft transmission power, described drive shaft changes the driving direction of power by described bevel gear set, finally
Act on described propeller, produce the power driving square formation to move；Described motor passes through described spur gear
Group, described alignment pin, described thrust ball bearing drive described protecting pipe, change the driving side of described propeller
To.
3. as claimed in claim 2 without anchor floating on water electric power station system, it is characterised in that: described power source
One for driving motor, and described power source two is motor.
4. as claimed in claim 1 without anchor floating on water electric power station system, it is characterised in that: described GPS
Alignment system includes a base station and at least two gps receivers, and wherein a gps receiver is installed
On described base station, remaining gps receiver is arranged on described floating on water power station.
5. as claimed in claim 4 without anchor floating on water electric power station system, it is characterised in that: described control is
System includes azimuth control mode: first passes through described GPS alignment system and determines described floating on water power station
The real time position in floating on water power station described in initial position and Real-time Collection, and by described real time position with described
Initial position compares, and confirms the azimuth of the offset design position in described floating on water power station, by institute
Stating dynamical system makes the azimuthal displacement amount in described floating on water power station be zero.
6. as claimed in claim 5 without anchor floating on water electric power station system, it is characterised in that: assuming that be arranged on
The design attitude of the gps receiver on described floating on water power station is A0: (A0x,A0y,A0Z) and offset after
Real time position is A:(Ax, Ay, Az), zero is O:(Ox, Oy, Oz)；
The control method of described azimuth control mode is:
Recipient's parallactic angle side-play amount θ, θ is vector A0Angle between 0 and vector A0；
Azimuthal side-play amount θ is filtered；
Adoption rate integral control method, first-selection determines that control deviation is △ θ, coordinates to control each power spin
The linear velocity of propeller in paddle structure, it is ensured that the angular velocity that each propeller rotates around zero O is identical and angle
Acceleration is identical；When within azimuthal displacement amount θ in described floating on water power station is at ± △ θ, i.e. complete institute
The azimuth stating floating on water power station controls.
7. as claimed in claim 6 without anchor floating on water electric power station system, it is characterised in that: when being arranged on
State the gps receiver quantity on floating on water power station when being multiple, after azimuthal side-play amount θ is filtered
Also needing weighting to process, filtering and weight processing mode is:
Gather the real time position of multiple gps receiver；
Calculate azimuthal displacement amount θ of multiple gps receiver1、θ2、θ3、……；
Azimuthal side-play amount θ1、θ2、θ3..., to arrange from small to large: θLittle、θSecondary little……θSecondary greatly、θGreatly；
Computer azimuth angle offset θ1、θ2、θ3... standard deviation β；
Judge that whether β is less than △ β, in this way, then azimuthal side-play amount θ1、θ2、θ3... add
Weigh and average；
As β is unsatisfactory for less than △ β, then judging whether | θGreatly-θLittle| ＜ Δ β1, in this way, then azimuthal is inclined
Shifting amount θ1、θ2、θ3... it is weighted and averages；
As being unsatisfactory for | θGreatly-θLittle| ＜ Δ β1, then θ is removedGreatly、θLittleForm new ordered series of numbers；
Judge that the number of members of new ordered series of numbers, whether more than 3, if it is returns step: computer azimuth angle is inclined
Shifting amount θ1、θ2、θ3... standard deviation β, the otherwise real time position of the multiple gps receiver of Resurvey,
Wherein, △ β, β1It is and presets threshold values.
8. as claimed in claim 4 without anchor floating on water electric power station system, it is characterised in that: assuming that be arranged on
The design attitude of the gps receiver on described floating on water power station is A0: (A0x,A0y,A0Z) and offset after
Real time position is A:(Ax, Ay, Az), zero is O:(Ox, Oy, Oz)；Described control system includes
Horizontal translation control mode；The control method of described horizontal translation control mode is: vector A0A is whole
The horizontal displacement of square formation, adoption rate integral control method, first-selection determines that control deviation is △ D, adjusts institute
The direction of propeller and vector AA in dynamic propeller arrangement0Identical, when the water in described floating on water power station
When prosposition moves within ± △ D, i.e. complete horizontal translation control.
9. as claimed in claim 8 without anchor floating on water electric power station system, it is characterised in that: when being arranged on
State the gps receiver quantity on floating on water power station when being multiple, also need to add after control deviation amount D is filtered
Power processes, and filtering and weight processing mode is:
Gather the real time position of multiple gps receiver；
Calculate control deviation amount d of multiple gps receiver1、d2、d3、……；
To control deviation amount d1、d2、d3..., to arrange from small to large: dLittle、dSecondary little……dSecondary Greatly、dGreatly
Calculate control deviation amount d1、d2、d3... standard deviation d；
Judge whether d is less than △ d, in this way, then to control deviation amount d1、d2、d3... it is weighted also
Average；
As d is unsatisfactory for less than △ d, then judging whether | dGreatly-dLittle| ＜ Δ d1, in this way, then to control deviation
Amount d1、d2、d3... it is weighted and averages；
As being unsatisfactory for | dGreatly-dLittle| ＜ Δ d1, then d is removedGreatly、dLittleForm new ordered series of numbers；
Judge that the number of members of new ordered series of numbers, whether more than 3, if it is returns step: calculate control deviation
Amount d1、d2、d3... standard deviation d, the otherwise real time position of the multiple gps receiver of Resurvey,
Wherein, △ d, d1It is and presets threshold values.
10. as claimed in claim 9 without anchor floating on water electric power station system, it is characterised in that: described control
System three kinds of operational modes of design: station-keeping mode, tracing mode, hedging pattern；Wherein,
Station-keeping mode: by position and the azimuth in the described floating on water power station of design, control system is real-time
Detect the attitude in whole described floating on water power station, when the horizontal translation in described floating on water power station is beyond setting
Determine scope ± △ D or azimuth beyond ± △ θ, control horizontal displacement again by first controlling party parallactic angle
Order makes it reset；
Tracing mode: tracing mode refer to whole floating on water power station with zero as O:(Ox, Oy, Oz)
On the basis of, in horizontal plane, change its azimuth, it is ensured that solar components whole day all faces the sun, it is ensured that
Receive maximum solar radiation energy；
Hedging pattern: according to weather forecast, under extreme weather conditions, rotates floating on water power station extremely in advance
The azimuth specified, makes floating on water power station wind area minimum, it is ensured that not topple in floating on water power station
Or break risk；According to water level monitoring system, in dry season, mobile floating on water power station to clear waters,
Guarantee that floating on water power station does not occur waters to dry up stranded risk.
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| CN201610590911.3A CN105974927B (en) | 2016-07-26 | 2016-07-26 | A kind of no anchor floating on water electric power station system |
| JP2017100019A JP6353955B2 (en) | 2016-07-26 | 2017-05-19 | Anchorless floating power plant system |
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| CN201610590911.3A CN105974927B (en) | 2016-07-26 | 2016-07-26 | A kind of no anchor floating on water electric power station system |
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| CN105974927B CN105974927B (en) | 2018-10-23 |
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| CN106385228A (en) * | 2016-09-29 | 2017-02-08 | 中冶华天南京电气工程技术有限公司 | Azimuth angle automatic tracking water floating photovoltaic array |
| JP2018108772A (en) * | 2016-12-28 | 2018-07-12 | キョーラク株式会社 | Photovoltaic power generation device |
| CN110190800A (en) * | 2019-04-24 | 2019-08-30 | 云南耀创能源开发有限公司 | One kind floating on the photovoltaic independently-powered system of water surface packaged type |
| WO2021099093A1 (en) | 2019-11-18 | 2021-05-27 | HERREWYN, Jean Michel | Floating body and method for stabilising a floating body |
| CN113612440A (en) * | 2021-07-27 | 2021-11-05 | 阳光新能源开发有限公司 | Photovoltaic floating body square matrix position monitoring method and system, computing device and storage medium |
| CN116260391A (en) * | 2022-12-16 | 2023-06-13 | 深圳市名洋能源科技有限公司 | Intelligent monitoring management system for photovoltaic energy storage power station |
| CN117163225A (en) * | 2023-11-03 | 2023-12-05 | 江苏通光昌隆电力能源有限公司 | Water photovoltaic power station for positioning and calibrating position |
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Also Published As
| Publication number | Publication date |
|---|---|
| JP2018019586A (en) | 2018-02-01 |
| JP6353955B2 (en) | 2018-07-04 |
| CN105974927B (en) | 2018-10-23 |
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Address after: 232089 Management Committee of Pingwei Economic Development Zone, Panji District, Huainan City, Anhui Province 207 Patentee after: Sunshine Water Surface Photovoltaic Technology Co.,Ltd. Address before: 232089 Management Committee of Pingwei Economic Development Zone, Panji District, Huainan City, Anhui Province 207 Patentee before: Sunshine water surface photovoltaic technology Co.,Ltd. |
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