CN111997820A - Wave energy acquisition and conversion device based on multi-channel lifting control and control method - Google Patents
Wave energy acquisition and conversion device based on multi-channel lifting control and control method Download PDFInfo
- Publication number
- CN111997820A CN111997820A CN202010767933.9A CN202010767933A CN111997820A CN 111997820 A CN111997820 A CN 111997820A CN 202010767933 A CN202010767933 A CN 202010767933A CN 111997820 A CN111997820 A CN 111997820A
- Authority
- CN
- China
- Prior art keywords
- control
- lifting platform
- force
- motion
- controller
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03B—MACHINES OR ENGINES FOR LIQUIDS
- F03B13/00—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates
- F03B13/12—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates characterised by using wave or tide energy
- F03B13/14—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates characterised by using wave or tide energy using wave energy
- F03B13/16—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates characterised by using wave or tide energy using wave energy using the relative movement between a wave-operated member, i.e. a "wom" and another member, i.e. a reaction member or "rem"
- F03B13/18—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates characterised by using wave or tide energy using wave energy using the relative movement between a wave-operated member, i.e. a "wom" and another member, i.e. a reaction member or "rem" where the other member, i.e. rem is fixed, at least at one point, with respect to the sea bed or shore
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03B—MACHINES OR ENGINES FOR LIQUIDS
- F03B15/00—Controlling
-
- 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
- Y02E10/30—Energy from the sea, e.g. using wave energy or salinity gradient
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
- Earth Drilling (AREA)
Abstract
The invention discloses a wave energy collecting and converting device based on multi-channel lifting control, which comprises a lifting platform, a wave energy collecting mechanism connected with the lifting platform, a plurality of piles for supporting the lifting platform, a climbing mechanism and a control unit. The lifting platform is I-shaped, through holes for installing the pile columns are formed in 4 corners of the lifting platform respectively, and a climbing mechanism is arranged at the through holes. The control unit comprises an inner ring controller and an outer ring controller, the outer ring controller comprises a vertical motion controller, a pitching motion controller and a side-tipping motion controller, the inner ring controller outputs a control signal of control force according to the speed and the relative speed of the lifting platform, and the outer ring controller is connected with the inner ring controller through a variable converter. The invention also discloses a corresponding control method. The device has the advantages that the lifting stability is high, and the energy conversion efficiency of the wave energy collecting mechanism is improved; the control method of the invention has high control precision and good reliability.
Description
Technical Field
The invention belongs to the field of marine special equipment engineering, and particularly relates to a wave energy collecting and converting device based on multi-channel lifting control and a control method.
Background
With the increasing demand of ocean energy, the safety of ocean platforms is more and more emphasized, and the research and development of the lifting control system of the ocean platforms are particularly important. In a severe marine environment, the platform needs to be lifted and lowered to ensure the safety and stability of the whole platform. In traditional lift, the ubiquitous lift is unstable, work efficiency is low, the energy consumption loss is big scheduling problem.
Therefore, a synchronous lifting control method for the ocean platform lifting mechanism, which can enable the platform to continuously and synchronously lift, is high in control precision and good in stability, is urgently needed to be designed.
Disclosure of Invention
The invention aims to solve the problems and provides a wave energy collecting and converting device based on multi-channel lifting control and a control method thereof.
The technical scheme includes that the wave energy collecting and converting device based on multi-channel lifting control comprises a lifting platform, a wave energy collecting mechanism connected with the lifting platform, a plurality of piles for supporting the lifting platform, climbing mechanisms which are in one-to-one correspondence with the piles and used for ascending or descending of the lifting platform, and a control unit, wherein the control unit detects the pitching angle and the side inclination angle of the lifting platform, respectively outputs control signals to the climbing mechanisms of the piles, controls the posture of the lifting platform through the independent control of motors of the climbing mechanisms of the piles, and improves the energy conversion efficiency of the wave energy collecting mechanism.
The lifting platform is I-shaped, through holes for installing the pile columns are formed in 4 corners of the lifting platform respectively, and a climbing mechanism is arranged at the through holes.
The climbing mechanism comprises a motor, a gear, a rack, a pulley and a guide sliding rail, wherein a base and the pulley of the motor are fixedly connected with the lifting platform respectively, the rack and the guide sliding rail are fixedly connected with the pile respectively, the gear is connected with a rotating shaft of the motor, and a control end of the motor is electrically connected with the control unit.
The control unit comprises an inner ring controller and an outer ring controller, the outer ring controller comprises a vertical motion controller, a pitching motion controller and a side-tipping motion controller, the inner ring controller outputs a control signal of control force according to the speed and the relative speed of the lifting platform, and the outer ring controller is connected with the inner ring controller through a variable converter.
The inner ring controller comprises a first pile controller, a second pile controller, a third pile controller and a fourth pile controller which are respectively connected with the control end of the climbing mechanism of the lifting platform.
The control method of the wave energy collecting and converting device based on the multichannel lifting control comprises the following steps:
detecting a pitch angle, a roll angle and a vertical displacement of the lifting platform as input of an outer ring controller, and obtaining vertical, roll and pitch motion control forces of the lifting platform according to the output of the outer ring controller;
the vertical, side-tipping and pitching motion control forces of the lifting platform are converted into the sub-control forces of each climbing mechanism by using the decoupler;
the inner ring controller outputs control force signals of all climbing mechanisms according to the speed and the relative speed of the lifting platform;
and calculating to obtain an ideal control force signal of each climbing mechanism according to the branch control force of each climbing mechanism output by the decoupler and the control force signal of each climbing mechanism output by the inner ring controller, inputting the ideal control force signal to the control end of each climbing mechanism, and enabling each climbing mechanism to act to realize the lifting control of the lifting platform.
Furthermore, the control method of the wave energy collecting and converting device based on the multi-channel lifting control comprises the following steps,
step 1: detecting roll angle displacement theta and pitch angle displacement of lifting platformAnd vertical displacement z as input of the outer ring controller, and obtaining the vertical motion control force f of the lifting platform according to the output of the outer ring controllerzRoll motion control force fθAnd pitch motion control force
Step 2: control of vertical motion force f using a decouplerzRoll motion control force fθAnd pitch motion control forceConverting the force f into the partial control force f of 4 climbing mechanisms of the lifting platform1、f2、f3、f4;
And step 3: the inner ring controller outputs control force P of 4 climbing mechanisms according to the speed and the relative speed of the lifting platform1、P2、P3、P4;
And 4, step 4: according to a partial control force f1、f2、f3、f4And a control force P1、P2、P3、P4Synthesizing to obtain the ideal control force F of 4 climbing mechanismsd1、Fd2、Fd3、Fd4The control signal is input to the motor control end of each climbing mechanism;
and 5: detecting the actual control force F of the motors of the 4 climbing mechanisms1、F2、F3、F4With an ideal control force Fd1、Fd2、Fd3、Fd4And comparing and calculating force errors, and controlling motors of the climbing mechanisms according to the force errors to realize the lifting control of the lifting platform.
In step 1, the outer ring controller detects the vertical movement displacement z and the vertical movement speed of the lifting platformAngular displacement theta and angular velocity of roll motionAngular displacement of pitching motionAnd angular displacement of pitch motionThe outer ring control model is adopted to obtain the vertical motion control force f of the lifting platformzRoll motion control force fθAnd pitch motion control force
The outer ring control model includes a vertical motion control model, a pitch motion control model, and a roll motion control model.
Vertical motion control model
In the formula KzControlling the proportionality coefficient for the displacement of vertical motion, CzFor the control coefficient of the vertical motion controller, zdIs the ideal vertical motion displacement of the lifting platform.
Pitching motion control model
In the formulaThe scaling factor is controlled for the pitch motion,for the control coefficients of the pitch motion controller,is the ideal pitching motion angular displacement of the lifting platform.
Roll motion control model
In the formula KθControlling the proportionality coefficient for roll movement, CθFor the control coefficient of the roll motion controller, thetadIs the ideal roll motion angular displacement of the lifting platform.
In step 3, the inner ring controller adopts a fuzzy control algorithm to obtain the control force P of 4 climbing mechanisms1、P2、P3、P4。
In step 5, the motors of the climbing mechanisms are controlled according to the force errors, and when the force errors are positive and large, a PID control algorithm is adopted to drive the motors to output large control force; when the force error is negative and large, the motor is controlled to zero the motor current.
The PID control algorithm, force error ef=Fd-F,Fd=[Fd1Fd2Fd3Fd4],F=[F1F2F3F4];
Force error control modelWherein KP、KD、KIRespectively, the control coefficients of the PID control algorithm.
Compared with the prior art, the invention has the beneficial effects that:
1) the wave energy collecting and converting device realizes multi-channel lifting control of the lifting platform, has good stability, can adjust the height, the pitch angle and the roll angle of the lifting platform according to the requirement, enables the wave energy collecting mechanism to be at the most appropriate height and angle, and improves the energy conversion efficiency of the wave energy collecting mechanism;
2) the climbing mechanism of the lifting platform adopts a double-guide and gear-rack three-point control transmission design, and the lifting platform has larger bearing capacity and higher stability due to the structure;
3) the gear rack transmission is adopted to replace the existing hydraulic jacking transmission, so that the reliability is higher;
4) the control method of the invention combines the outer ring control and the inner ring control, controls the motor of the climbing mechanism according to the force error, and has high control precision and good robustness.
Drawings
The invention is further illustrated by the following figures and examples.
Fig. 1 is a schematic structural diagram of a wave energy collecting and converting device according to an embodiment of the invention.
Fig. 2 is a schematic structural view of a climbing mechanism according to an embodiment of the present invention.
Fig. 3 is a control block diagram of a control method according to an embodiment of the present invention.
FIG. 4 is a diagram illustrating the combination of outer loop control and inner loop control according to an embodiment of the present invention.
Fig. 5 is a schematic input/output diagram of an inner-loop controller according to an embodiment of the present invention.
Fig. 6 is a schematic input/output diagram of a vertical motion controller according to an embodiment of the invention.
Fig. 7 is an input/output schematic diagram of a roll motion controller according to an embodiment of the present invention.
Fig. 8 is an input/output diagram of a pitching motion controller according to an embodiment of the present invention.
Detailed Description
As shown in fig. 1, the wave energy collecting and converting device based on multi-channel lifting control comprises an i-shaped lifting platform 1, a wave energy collecting mechanism 4 connected with the i-shaped lifting platform, 4 piles 2 for supporting the lifting platform, climbing mechanisms 3 which are in one-to-one correspondence with the piles and used for ascending or descending of the lifting platform, and a control unit.
As shown in fig. 2, the climbing mechanism 3 includes a motor 5, a gear 6, a rack 7, a pulley 9, a guide slide rail 8, an inclination sensor 10 and a height sensor 11, the base of the motor 5, the pulley 9 is respectively and fixedly connected with the lifting platform 1, the rack 7 and the guide slide rail 8 are respectively and fixedly connected with the pile 2, the gear 6 is connected with a rotating shaft of the motor 5, the control end of the motor 5 is electrically connected with the control unit, the inclination sensors 10 are arranged on two diagonal lines of the lifting platform 1, the height sensor 11 is arranged on the climbing mechanism 3, and both the inclination sensor 10 and the height sensor 11 are connected with the input end of the control unit.
As shown in fig. 4, the control unit includes an inner ring controller and an outer ring controller, the outer ring controller includes a vertical motion controller, a pitch motion controller, and a roll motion controller, and the input and output of the outer ring controller are shown in fig. 6 to 8; the inner ring controller outputs a control signal of control force according to the speed and the relative speed of the lifting platform, and the outer ring controller is connected with the inner ring controller through the variable converter.
The control unit obtains the vertical motion displacement z and the vertical motion speed of the lifting platform according to the height signals of the climbing mechanism output by the 4 height sensors and the angle signals output by the inclination angle sensors and by combining the geometric dimension of the lifting platformAngular displacement theta and angular velocity of roll motionAngular displacement of pitching motionAnd angular displacement of pitch motion
The inner ring controller comprises a first pile controller, a second pile controller, a third pile controller and a fourth pile controller, the first pile controller, the second pile controller, the third pile controller and the fourth pile controller are respectively connected with control ends of a first motor, a second motor, a third motor and a fourth motor which drive the 4 climbing mechanisms of the lifting platform, and the input and the output of the inner ring controller are shown in figure 5.
As shown in fig. 3, the method for controlling the wave energy collecting and converting device based on multi-channel lifting control comprises the following steps,
step 1: detecting vertical motion displacement z and vertical motion speed of lifting platformAngular displacement theta and angular velocity of roll motionAngular displacement of pitching motionAnd angular displacement of pitch motionAs the input of the outer ring controller, the outer ring controller calculates and outputs the vertical motion control force f of the lifting platform according to the outer ring control modelzRoll motion control force fθAnd pitch motion control force
Step 2: control of vertical motion force f using a decouplerzRoll motion control force fθAnd pitch motion control forceConverted into the sub-control force f of the first motor, the second motor, the third motor and the fourth motor1、f2、f3、f4;
And step 3: the inner ring controller calculates and outputs the control force P of the 4 climbing mechanisms by adopting a fuzzy control algorithm according to the speed and the relative speed of the lifting platform1、P2、P3、P4;
And 4, step 4: according to a partial control force f1、f2、f3、f4And a control force P1、P2、P3、P4Synthesizing to obtain the ideal control force F of 4 climbing mechanismsd1、Fd2、Fd3、Fd4The control signals are input to the control ends of the first motor, the second motor, the third motor and the fourth motor as control signals;
and 5: detecting actual control forces F of the first motor, the second motor, the third motor and the fourth motor1、F2、F3、F4With an ideal control force Fd1、Fd2、Fd3、Fd4Comparing and calculating force errors, and controlling motors of all climbing mechanisms according to the force errors to realize the lifting control of the lifting platform; when the force error is positive and large, a PID control algorithm is adopted, and a driving motor outputs large control force; when the force error is negative and large, the motor is controlled to zero the motor current.
The outer ring control model includes a vertical motion control model, a pitch motion control model, and a roll motion control model.
Vertical motion control model
In the formula KzControlling the proportionality coefficient for the displacement of vertical motion, CzFor the control coefficient of the vertical motion controller, zdIs the ideal vertical motion displacement of the lifting platform.
Pitching motion control model
In the formulaThe scaling factor is controlled for the pitch motion,for the control coefficients of the pitch motion controller,is the ideal pitching motion angular displacement of the lifting platform.
Roll motion control model
In the formula KθControlling the proportionality coefficient for roll movement, CθFor the control coefficient of the roll motion controller, thetadIs the ideal roll motion angular displacement of the lifting platform.
The decoupling algorithm of the decoupler and the fuzzy control algorithm of the inner ring controller refer to the decoupling algorithm and the fuzzy control algorithm disclosed in the paper ' research on semi-active suspension control method based on MR damper ' of the square sail '.
In step 5, force error ef=FdF, given control force Fd=[Fd1 Fd2 Fd3 Fd4]The actual control force F ═ F1F2 F3 F4];
Force error control model
In the formula KP、KD、KIRespectively, the control coefficients of the PID control algorithm.
The wave energy collecting mechanism 4 of the embodiment adopts a power generation device disclosed in a Chinese patent 'bird wing-like oscillating wave energy power generation device' with the application number of CN 201820942424.3.
The above-mentioned embodiments are merely preferred technical solutions of the present invention, and should not be construed as limiting the present invention. The protection scope of the present invention is defined by the claims, and includes equivalents of technical features of the claims. I.e., equivalent alterations and modifications within the scope hereof, are also intended to be within the scope of the invention.
Claims (10)
1. The wave energy collecting and converting device based on multi-channel lifting control is characterized by comprising a lifting platform (1), a wave energy collecting mechanism (4) connected with the lifting platform, a plurality of piles (2) for supporting the lifting platform, climbing mechanisms (3) which are in one-to-one correspondence with the piles and used for ascending or descending of the lifting platform, and a control unit;
the control unit detects the pitch angle and the side inclination angle of the lifting platform, respectively outputs control signals to the climbing mechanisms of the piles, controls the posture of the lifting platform through independent control of motors of the climbing mechanisms of the piles, enhances the stability of the lifting platform, and improves the energy conversion efficiency of the wave energy collecting mechanism.
2. The wave energy collecting and converting device based on the multichannel lifting control as claimed in claim 1, wherein the climbing mechanism (3) comprises a motor (5), a gear (6), a rack (7), a pulley (9) and a guide slide rail (8), the base of the motor (5) and the pulley (9) are respectively and fixedly connected with the lifting platform (1), the rack (7) and the guide slide rail (8) are respectively and fixedly connected with the pile (2), the gear (6) is connected with a rotating shaft of the motor (5), and the control end of the motor (5) is electrically connected with the control unit.
3. The wave energy collecting and converting device based on multichannel lifting control as claimed in claim 1, characterized in that the lifting platform (1) is i-shaped, through holes for installing piles are respectively arranged at 4 corners of the lifting platform, and climbing mechanisms (3) are respectively arranged at the through holes.
4. The wave energy collecting and converting device based on multichannel lifting control as claimed in claim 3, characterized in that the control unit comprises an inner ring controller and an outer ring controller, the outer ring controller comprises a vertical motion controller, a pitching motion controller and a rolling motion controller, the inner ring controller outputs a control signal to the climbing mechanism according to the speed and the relative speed of the lifting platform, and the outer ring controller is connected with the inner ring controller through a variable converter; the inner ring controller comprises a first pile controller, a second pile controller, a third pile controller and a fourth pile controller which are respectively connected with the control end of the climbing mechanism of the lifting platform.
5. The wave energy collecting and converting device based on multichannel lifting control as claimed in claim 1, characterized in that height sensors (11) are respectively arranged outside the climbing mechanism (3), an inclination sensor (10) is arranged in the center of the lifting platform (1), and both the inclination sensor (10) and the height sensor (11) are connected with the control unit.
6. A control method for a wave energy collecting and converting device based on multi-channel lifting control according to any of claims 1-5, characterized by comprising:
detecting a pitch angle, a roll angle and a vertical displacement of the lifting platform as input of an outer ring controller, and obtaining vertical, roll and pitch motion control forces of the lifting platform according to the output of the outer ring controller;
the vertical, side-tipping and pitching motion control forces of the lifting platform are converted into the sub-control forces of each climbing mechanism by using the decoupler;
the inner ring controller outputs control force signals of all climbing mechanisms according to the speed and the relative speed of the lifting platform;
and calculating to obtain an ideal control force signal of each climbing mechanism according to the branch control force of each climbing mechanism output by the decoupler and the control force signal of each climbing mechanism output by the inner ring controller, inputting the ideal control force signal to the control end of each climbing mechanism, and enabling each climbing mechanism to act to realize the lifting control of the lifting platform.
7. The control method according to claim 6, characterized by comprising the step of,
step 1: detecting roll angle displacement theta and pitch angle displacement of lifting platformAnd vertical displacement z as input of the outer ring controller, and obtaining the vertical motion control force f of the lifting platform according to the output of the outer ring controllerzRoll motion control force fθAnd pitch motion control force
Step 2: control of vertical motion force f using a decouplerzRoll motion control force fθAnd pitch motion control forceConverting the force f into the partial control force f of 4 climbing mechanisms of the lifting platform1、f2、f3、f4;
And step 3: the inner ring controller outputs control force P of 4 climbing mechanisms according to the speed and the relative speed of the lifting platform1、P2、P3、P4;
And 4, step 4: according to a partial control force f1、f2、f3、f4And a control force P1、P2、P3、P4Synthesizing to obtain the ideal control force F of 4 climbing mechanismsd1、Fd2、Fd3、Fd4The control signal is input to the motor control end of each climbing mechanism;
and 5: detecting the actual control force F of the motors of the 4 climbing mechanisms1、F2、F3、F4With an ideal control force Fd1、Fd2、Fd3、Fd4And comparing and calculating force errors, and controlling motors of the climbing mechanisms according to the force errors to realize the lifting control of the lifting platform.
8. The control method according to claim 7, wherein in step 1, the outer ring controller detects the vertical movement displacement z and the vertical movement speed of the lifting platformAngular displacement theta and angular velocity of roll motionAngular displacement of pitching motionAnd angular displacement of pitch motionObtaining the vertical motion control force f of the lifting platform according to the control modelzRoll motion control force fθAnd pitch motion control force
Vertical motion control model
In the formula KzControlling the proportionality coefficient for the displacement of vertical motion, CzFor the control coefficient of the vertical motion controller of the lifting platform, zdIs ideal vertical movement displacement of the lifting platform;
pitching motion control model
In the formulaThe scaling factor is controlled for the pitch motion,for the control coefficients of the heave platform pitch motion controller,ideal pitching motion angular displacement of the lifting platform;
roll motion control model
In the formula KθControlling the proportionality coefficient for roll movement, CθControl factor, theta, for the roll motion control of the lifting platformdIs the ideal roll motion angular displacement of the lifting platform.
9. The control method according to claim 7, wherein in step 5, the motor of each climbing mechanism is controlled according to the force error, and when the force error is positive and large, a PID control algorithm is adopted to drive the motor to output large control force; when the force error is negative and large, the motor is controlled to zero the motor current.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202010767933.9A CN111997820B (en) | 2020-08-03 | 2020-08-03 | Wave energy acquisition and conversion device based on multi-channel lifting control and control method |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202010767933.9A CN111997820B (en) | 2020-08-03 | 2020-08-03 | Wave energy acquisition and conversion device based on multi-channel lifting control and control method |
Publications (2)
Publication Number | Publication Date |
---|---|
CN111997820A true CN111997820A (en) | 2020-11-27 |
CN111997820B CN111997820B (en) | 2021-10-01 |
Family
ID=73463617
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202010767933.9A Active CN111997820B (en) | 2020-08-03 | 2020-08-03 | Wave energy acquisition and conversion device based on multi-channel lifting control and control method |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN111997820B (en) |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2293607A1 (en) * | 1974-12-06 | 1976-07-02 | Casanovas Jose | Machine for utilising energy of rivers or winds - has pivoted vanes mounted on endless belts driving rotors |
CN1668844A (en) * | 2002-07-15 | 2005-09-14 | 荷兰能源建设基金中心 | Assembly of energy flow collectors, such as windpark, and method of operation |
JP2006183648A (en) * | 2004-12-24 | 2006-07-13 | Kiminori Sakai | Hydrodynamic force power-generating device |
CN106481500A (en) * | 2016-10-20 | 2017-03-08 | 浙江海洋大学 | Wave-power device and control method |
CN106494577A (en) * | 2016-11-01 | 2017-03-15 | 上海电机学院 | A kind of walkaround active wave compensating device and method |
CN108361145A (en) * | 2018-01-30 | 2018-08-03 | 中国海洋大学 | It is a kind of based on traditional Weir this formula turbine optimize from pitch control vane type turbine |
CN110130298A (en) * | 2019-04-30 | 2019-08-16 | 广东海洋大学 | A kind of self-elevating ocean platform lift control system and control method |
-
2020
- 2020-08-03 CN CN202010767933.9A patent/CN111997820B/en active Active
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2293607A1 (en) * | 1974-12-06 | 1976-07-02 | Casanovas Jose | Machine for utilising energy of rivers or winds - has pivoted vanes mounted on endless belts driving rotors |
CN1668844A (en) * | 2002-07-15 | 2005-09-14 | 荷兰能源建设基金中心 | Assembly of energy flow collectors, such as windpark, and method of operation |
JP2006183648A (en) * | 2004-12-24 | 2006-07-13 | Kiminori Sakai | Hydrodynamic force power-generating device |
CN106481500A (en) * | 2016-10-20 | 2017-03-08 | 浙江海洋大学 | Wave-power device and control method |
CN106494577A (en) * | 2016-11-01 | 2017-03-15 | 上海电机学院 | A kind of walkaround active wave compensating device and method |
CN108361145A (en) * | 2018-01-30 | 2018-08-03 | 中国海洋大学 | It is a kind of based on traditional Weir this formula turbine optimize from pitch control vane type turbine |
CN110130298A (en) * | 2019-04-30 | 2019-08-16 | 广东海洋大学 | A kind of self-elevating ocean platform lift control system and control method |
Also Published As
Publication number | Publication date |
---|---|
CN111997820B (en) | 2021-10-01 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN107434010B (en) | A kind of electronic wave Active Compensation, which is stepped on, multiplies system and its control method | |
US8100650B2 (en) | Cyclical wave energy converter | |
CN111042978B (en) | Floating type wind energy-wave energy combined power generation device and control method thereof | |
CN112283031A (en) | Deep-sea semi-submersible type wind turbine generator group wind energy obtaining and stability cooperative control method and system | |
CN211032947U (en) | Four-degree-of-freedom active wave compensation operation and maintenance climbing device | |
CN107503885A (en) | Control device, control method and the control program of float type wind power generation plant | |
CN113753213B (en) | Variable torsional stiffness underwater tractor hydrofoil system for glider | |
WO2010084355A9 (en) | Method and apparatus for energy generation | |
CN110130298B (en) | Lifting control system and control method for self-elevating ocean platform | |
CN116280059A (en) | Stable self-compensating wind-wave coupled power generation floating type fan foundation and control method | |
CN106988961A (en) | Mix suspending air gap adjusting type fan yaw system | |
CN107738996A (en) | A kind of compensation device for widening floating crane application and compensation method | |
CN111997820B (en) | Wave energy acquisition and conversion device based on multi-channel lifting control and control method | |
JP2014218958A (en) | Floating structure for ocean wind power generation | |
CN115506961A (en) | Semi-submersible floating type fan integrated with wave power generation device and control method thereof | |
CN112389599A (en) | Four-degree-of-freedom active wave compensation operation and maintenance climbing device | |
KR20110133707A (en) | Floating structure for constructing wind power plant | |
CN112901413A (en) | Vertical shaft fluid energy conversion device | |
CN111963366B (en) | Rotary lifting type tidal current energy power generation device | |
CN107882676B (en) | Inverted wave energy power generation device and optimal capturing method thereof | |
CN207192639U (en) | Deep water lifts heave compensation hydraulic system | |
CN110436359B (en) | Corner reducing construction platform for hoisting wind power precast concrete tower barrel | |
CN115818490B (en) | Semi-active heave compensation device for ROV release recovery | |
CN212838173U (en) | Deep-sea semi-submersible type wind generator group wind energy obtaining and stability cooperative control system | |
CN116753118A (en) | Typhoon-ocean current power generation resistant multifunctional buoyancy tank capable of adaptively controlling lifting of fan |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant |