CN113212678B - Active-passive combined control system of floating offshore wind power structure and implementation method - Google Patents
Active-passive combined control system of floating offshore wind power structure and implementation method Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B35/44—Floating buildings, stores, drilling platforms, or workshops, e.g. carrying water-oil separating devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B39/00—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude
- B63B39/02—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude to decrease vessel movements by displacement of masses
- B63B39/03—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude to decrease vessel movements by displacement of masses by transferring liquids
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
- B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
- B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
- B63H5/125—Arrangements on vessels of propulsion elements directly acting on water of propellers movably mounted with respect to hull, e.g. adjustable in direction, e.g. podded azimuthing thrusters
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- 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
- F03D—WIND MOTORS
- F03D13/00—Assembly, mounting or commissioning of wind motors; Arrangements specially adapted for transporting wind motor components
- F03D13/20—Arrangements for mounting or supporting wind motors; Masts or towers for wind motors
- F03D13/25—Arrangements for mounting or supporting wind motors; Masts or towers for wind motors specially adapted for offshore installation
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- 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
- F03D—WIND MOTORS
- F03D7/00—Controlling wind motors
- F03D7/02—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor
- F03D7/0296—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor to prevent, counteract or reduce noise emissions
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- 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
- F03D—WIND MOTORS
- F03D7/00—Controlling wind motors
- F03D7/02—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor
- F03D7/04—Automatic control; Regulation
- F03D7/042—Automatic control; Regulation by means of an electrical or electronic controller
- F03D7/043—Automatic control; Regulation by means of an electrical or electronic controller characterised by the type of control logic
- F03D7/044—Automatic control; Regulation by means of an electrical or electronic controller characterised by the type of control logic with PID control
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- 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
- F03D—WIND MOTORS
- F03D7/00—Controlling wind motors
- F03D7/02—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor
- F03D7/04—Automatic control; Regulation
- F03D7/042—Automatic control; Regulation by means of an electrical or electronic controller
- F03D7/043—Automatic control; Regulation by means of an electrical or electronic controller characterised by the type of control logic
- F03D7/046—Automatic control; Regulation by means of an electrical or electronic controller characterised by the type of control logic with learning or adaptive control, e.g. self-tuning, fuzzy logic or neural network
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B35/44—Floating buildings, stores, drilling platforms, or workshops, e.g. carrying water-oil separating devices
- B63B2035/4433—Floating structures carrying electric power plants
- B63B2035/446—Floating structures carrying electric power plants for converting wind energy into electric energy
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
- B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
- B63H5/125—Arrangements on vessels of propulsion elements directly acting on water of propellers movably mounted with respect to hull, e.g. adjustable in direction, e.g. podded azimuthing thrusters
- B63H2005/1254—Podded azimuthing thrusters, i.e. podded thruster units arranged inboard for rotation about vertical axis
- B63H2005/1258—Podded azimuthing thrusters, i.e. podded thruster units arranged inboard for rotation about vertical axis with electric power transmission to propellers, i.e. with integrated electric propeller motors
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- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
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- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
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Abstract
The invention provides an active-passive combined control system of a floating offshore wind power structure and an implementation method, wherein the active-passive combined control system comprises a floating foundation and a fan arranged above the floating foundation, the fan is provided with an active control system at least consisting of a wind speed measuring device, a fan yawing device, a fan variable pitch controller and a fan variable pitch control terminal, and the fan is provided with a tuned mass damper for passively controlling vibration; the wind turbine is provided with an inertial measurement unit sensor for measuring triaxial acceleration and angular velocity at the engine room and a floating foundation motion control terminal for receiving velocity signals, and the floating foundation is provided with a plurality of telescopic full-rotation propellers controlled by the floating foundation motion control terminal. The control system provided by the invention can realize real-time synchronous control of each substructure, can offset average rotation and average horizontal displacement in the structure motion through feedforward control, and can effectively keep the fan at a design position for periodic motion.
Description
Technical Field
The invention relates to the field of offshore wind power generation, in particular to an active-passive combined control system of a floating offshore wind power structure and an implementation method thereof, and particularly relates to a foundation structure serving in an engineering field with the water depth of more than 50 meters.
Background
By far, the offshore wind power accumulation grid-connected capacity in China reaches 750 ten thousand kilowatts and is located in the third place of the world. The development of offshore wind energy resources in China enters offshore wind power plants and deep sea wind power plants on a large scale, and the more economical wind power plant development scheme has a decisive role in the development of the whole offshore wind power industry.
With the increase of water depth, the fixed foundation cannot meet the requirements of the offshore wind power industry. In contrast, the investment cost of the floating offshore wind power structure has low sensitivity to water depth, and is an extremely important development scheme in the development of deep and distant sea wind power.
Different from a fixed wind power structure, the floating wind power structure is composed of a plurality of subsystems of an upper fan, a middle tower column and a lower floating support foundation, and in the service period, each subsystem bears different environmental loads, and the motion equation and the boundary condition are different, so that each subsystem has a respective control mode. For example, the upper fan has pitch regulation, the middle tower column has damping and vibration damping regulation, and the lower floating foundation has pressure-loaded water regulation. In fact, however, the dynamic response of each subsystem of the floating wind power structure during service is mutually coupled, and not only load transmission but also interaction on motion exists among the subsystems. Therefore, the control devices of the subsystems will influence each other, and it is very difficult to control the subsystems synchronously and in real time. In summary, in the floating wind power structure, it is urgently needed to develop a multi-subsystem combined control mode, select a reasonable control device for each subsystem by adopting a step-by-step control mode, coordinate power response control among the subsystems, and further ensure that the floating wind power structure achieves the maximum power generation efficiency in a working state and has the strongest survival capability under a self-existing working condition.
In addition, the existing control mode for the basic motion of the floating wind power structure is less, particularly active control, and the current international mainstream control mode is to change the floating state of the structure by adjusting the loaded water in the foundation so as to realize control. However, due to the pump and pipeline for regulating ballast water, one-time regulation of ballast water often requires 30 minutes or more, so that real-time control cannot be realized, and advance judgment of sea state is required. Therefore, it is necessary to provide a floating base motion control device with a faster response rate for a floating wind power structure.
Based on the situation, the invention provides an active-passive combined control system and an implementation method of a floating offshore wind power structure, and the problems can be effectively solved.
Disclosure of Invention
The invention provides an active-passive combined control system and an implementation method of a floating offshore wind power structure, aiming at the problem of motion response control of the floating wind power structure under the action of wind, waves and currents.
In order to solve the technical problems, the invention is realized by the following technical scheme:
on one hand, the invention provides an active-passive combined control system of a floating offshore wind power structure, which comprises a floating foundation, a fan and a tower frame, wherein the fan and the tower frame are arranged above the floating foundation, the fan is provided with an active control system at least comprising a wind speed measuring device, a fan yaw device, a fan pitch controller and a fan pitch control terminal, and the tower frame of the fan is provided with a tuned mass damper for passively controlling vibration; the wind turbine is provided with an inertial measurement unit sensor for measuring the triaxial acceleration and the angular velocity of the cabin and a floating foundation motion control terminal for receiving the velocity signal, and the floating foundation is provided with a plurality of telescopic full-rotation propellers controlled by the floating foundation motion control terminal.
As a preferred technical scheme of the invention, the telescopic full-revolving thruster comprises an electromechanical controller, a telescopic vertical rotating shaft, a horizontal rotating shaft and a propeller; the electromechanical controller is used for receiving an instruction of the floating foundation motion control terminal and outputting current, the telescopic vertical rotating shaft controls the vertical telescopic motion of the propeller and the rotation in a horizontal plane, and the horizontal rotating shaft controls the out-of-plane rotation of the propeller; the telescopic full-rotation propeller can provide 360-degree omnibearing thrust.
As a preferred technical scheme of the invention, the floating type foundation motion control terminal carries out signal reconstruction on the triaxial acceleration and the angular velocity measured by the inertial measurement unit sensor by using a structure dynamic displacement non-integral reconstruction method to obtain a displacement signal, and then controls the telescopic full-rotation propeller array by using a double-output proportional-integral-differential PID fuzzy control method; and the floating foundation motion control terminal performs feedforward control on the basis of slow variables in the displacement signals, and eliminates the average drift amount of the structure motion, wherein the average drift amount comprises a corner caused by average wind inclination and average horizontal displacement caused by ocean current.
A plurality of telescopic full-rotation propellers are arranged on a floating foundation to form a propeller array. Compared with the traditional full-circle-rotation propeller, the telescopic full-circle-rotation propeller has the characteristics of being capable of extending different lengths and rotating around the shaft, wherein the rotating around the shaft comprises a vertical shaft and a horizontal shaft, so that the telescopic full-circle-rotation propeller can provide 360-degree thrust. Through the cooperation among all gyrators, can be effectively for the floating structure in the direction output control force and moment of 6 degrees of freedom of surging, swaying, rolling, pitching, heading, heaving.
The floating foundation motion control terminal is installed in an engine room, three-axis acceleration and angular velocity signals of a floating foundation are reconstructed based on a structure dynamic displacement non-integral reconstruction method, a baseline drift term in the acceleration signals is eliminated, displacement signals of the floating foundation are obtained, and the telescopic full-rotation propeller array is further controlled through a double-output proportional-integral-derivative (PID) fuzzy control method. The floating foundation control terminal performs feed-forward adjustment on the balance position of the floating foundation based on the slow variation in the displacement signal, eliminates average rotation of the floating foundation caused by average wind tilting moment and average horizontal displacement caused by ocean current, and ensures that the floating wind power structure performs periodic motion near a designed working position.
The dual-output PID fuzzy control method is based on a segmented PID control theory, reasonably segments the periodic motion of a floating foundation, and performs PID control on the structural motion characteristics of different segments. The double-output PID fuzzy control method takes the difference value between the motion state of the current structure and the target control state and the motion direction of the current structure as the input of a fuzzy control system, utilizes a fuzzy rule to determine the control parameter change among segmental motions, and simultaneously gives a translation control parameter and a rotation proportion control parameter. The dual-output PID fuzzy control method is a self-adaptive fuzzy control method, meets the fuzzy Lyapunov stability theory, has smooth control parameter change among all sections, and can effectively avoid the problem of structural instability caused by frequent control force change in practical application of the traditional segmented PID control.
And a Tuned Mass Damper (TMD) is arranged inside the fan tower to realize vibration reduction on the fan tower. The TMD control consists of a spring and a damper, is a passive control mode which is mature in engineering application, and is low in cost and convenient to install. According to the invention, TMD control is adopted in the tower, which is beneficial to weakening the coupling of active control (yaw control and variable pitch control) of the upper fan control terminal and the basic motion control of the lower floating body, and further is beneficial to establishing respective control optimization equations of the active control modes.
The fan variable pitch control terminal is arranged in the engine room, the orientation of the fan is changed through the fan yaw device, and the pitch angle of the fan is changed through the fan variable pitch controller, so that the target torque and the target rotating speed are achieved. The yaw control and the pitch control of the fan are both active control modes, and the input quantity of the control is a motion state value set in the floating foundation motion control terminal and the real-time wind speed measured by the wind speed measuring device. The fan yaw device is arranged at the joint of the engine room and the fan tower, and the fan variable pitch controller is arranged on the fan hub. At present, active control theories of yaw control and pitch control of a fan are mature, such as a PID (proportion integration differentiation) method based on a back propagation multi-layer feedforward (BP) neural network algorithm, a multivariable control method based on a linear quadratic Gaussian control algorithm and the like. The fan control realizes the active control of the fan by using a PID control method of a BP neural network algorithm.
As a preferred technical scheme of the invention, the floating foundation at least comprises three column type buoys, a horizontal support rod and an inclined support rod are arranged between the buoys, and a fan is placed on one of the buoys.
As a preferred technical scheme of the invention, each buoy is provided with a mooring cable.
As a preferred technical scheme of the invention, the bottom of each buoy is provided with a telescopic full-rotation propeller.
As a preferred technical solution of the present invention, the inertial measurement unit sensor is mounted on the wind turbine nacelle, the floating base motion control terminal is mounted in the wind turbine nacelle, and the tuned mass damper is mounted in the wind turbine tower.
As a preferred technical solution of the present invention, the wind speed measuring device is mounted on the wind turbine nacelle, the wind turbine pitch controller is mounted on the wind turbine hub, and the wind turbine yaw device is mounted at a connection position between the wind turbine nacelle and the tower.
In another aspect, the present invention provides a method for implementing an active-passive combined control system for a floating offshore wind power structure, wherein the equipment construction comprises the following steps:
s1, designing the draft and the displacement of a floating foundation according to basic parameters of an offshore wind generating set, marine environment conditions of a service engineering field and engineering geological conditions, and further determining the design specification of the floating foundation;
s2, manufacturing the fan in a construction base according to the determined floating foundation design specification, and meanwhile, completing the assembly of the fan, the active control system and the passive control system;
and S3, towing the assembled floating foundation and the fan to an engineering field area, arranging mooring cables, and using the telescopic full-rotation propeller to perform auxiliary positioning and installation in the installation process of the mooring cables to finally complete installation.
In another aspect, the present invention provides a method for implementing an active-passive combined control system for a floating offshore wind power structure, where a control strategy includes the following features:
the telescopic full-rotation propeller adopted by the invention has higher response speed, and the floating state adjustment of the floating foundation can be completed quickly, so that the upper fan can carry out yaw control and pitch control on the upper fan based on the target adjustment state of the floating foundation and the measured real-time wind speed. In order to ensure that the dynamic instability of the fan and the floating foundation does not occur in the synchronous adjustment process, the TMD is arranged in the tower between the fan and the floating foundation, and the passive control mode can effectively reduce the interaction of the floating foundation and the fan in the self-control adjustment process, so that the dynamic instability in the adjustment process is avoided. By the mode, the invention realizes synchronous integrated control of the fan-floating foundation.
Under the operating mode, the wave load that floating basis suffered is the high frequency load, and the wind load that upper portion fan suffered belongs to the slow change load of low frequency, and control system will carry out synchronous regulation and control to floating basis and upper portion fan, and concrete step is as follows:
s1, obtaining a real-time motion state of the floating wind power structure cabin through a displacement reconstruction algorithm according to three-axis acceleration and angular velocity obtained through IMU monitoring in the cabin, wherein the real-time motion state comprises displacement, velocity and acceleration.
And S2, taking the real-time movement state of the cabin obtained in the S1 as the input of a fuzzy control system in the floating foundation control terminal, comparing the real-time movement state with the target movement state, calculating an instruction of the telescopic full-rotation propeller by using a multi-section PID control method, and controlling the floating foundation.
And S3, the fan control terminal takes the wind load signal of the wind measuring device and the target motion state of the floating foundation as input and gives fan control based on the yaw and pitch BP neural network.
And S4, installing a TMD damper in the tower, giving a passive control response based on active control of the wind turbine cabin and active control of the floating foundation, weakening the coupling between active control adjustment of the floating foundation and active control adjustment of the wind turbine, improving the stability of synchronous integrated control, and reducing the transient instability probability caused by synchronous active control.
Under the self-storage working condition, the upper fan stops the machine for self-locking at the first time, and the wind load suffered by the upper fan is reduced. The control system only controls the output force of the propeller array of the floating foundation to obtain the minimum motion response and realize the maximization of the survival capacity, and the specific steps are as follows:
s1, obtaining a real-time motion state of the floating wind power structure cabin through a displacement reconstruction algorithm according to three-axis acceleration and angular velocity obtained through IMU monitoring in the cabin, wherein the real-time motion state comprises displacement, velocity and acceleration.
S2, the fan active control system judges that the working condition is too bad at the moment and belongs to a self-storage working condition, and the active control system sends out a fan self-locking and emergency stop instruction.
And S3, taking the real-time motion state of the cabin obtained in the S1 as the input of a fuzzy control system in the floating foundation control terminal, comparing the real-time motion state with the target motion state, calculating the instruction of the telescopic full-rotation propeller by a multi-section PID control method, and controlling the floating foundation.
And S4, installing a TMD damper in the tower, giving a passive control response based on the active control of the floating foundation, and weakening the tower vibration response.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. the telescopic full-rotation propeller array is arranged on the floating foundation, so that the translational control force can be effectively provided for the floating structure, the positioning problem of the floating fan can be effectively improved, and the mooring cost under medium water depth is reduced to a great extent;
2. the rotation control force of the floating structure can be effectively provided by installing the telescopic full-rotation propeller array on the floating foundation, and the problem of control over the average motion corner (average pitch angle and average roll angle) which cannot be solved because the rotation damping (pitch damping and roll damping) can only be increased in the passive control of the traditional stabilizer fin, stabilizer tank and the like by combining a feedforward control method in a control system can be solved;
3. the invention can provide positioning assistance in the mooring installation of the fan by installing the telescopic full-rotation propeller array, thereby greatly reducing the difficulty of mooring installation construction;
4. compared with a dynamic ballast water control system, the floating-type water ballast water control system has higher response rate in the aspect of floating-type foundation control, and can realize real-time control to a great extent;
5. the telescopic full-rotation propeller array can change the motion rigidity of the floating fan structure by applying the propelling force to the floating foundation, so as to avoid the wave resonance frequency, reduce the motion amplification coefficient of the structure dynamic response, improve the working efficiency of the floating fan in the working state and prolong the fatigue life of the structure;
6. the invention improves the survival ability and the reliability of the floating type fan under the self-existing working condition, and the fan foundation carrying the control system needs smaller structural mass under the same design requirement, thereby effectively reducing the integral steel consumption of the structure, reducing the investment of the foundation structure, and having particularly outstanding economic advantages when the water depth of a service engineering field of the fan foundation exceeds 50 meters;
7. the invention adopts the fuzzy control theory to carry out the segmented PID adjustment on the floating foundation motion, has strong self-adaptive capacity, smooth control force output between the segmented adjustments and stronger dynamic stability compared with the traditional linear segmented PID control;
8. the active control device provided by the invention can directly utilize the electric energy generated by the wind generating set without considering additional power supply and energy supply;
9. the active control-passive control-active control system has the advantages that the active control-passive control-active control is combined, the passive control of the tuned damper is utilized to weaken the coupling between the active control of the floating foundation and the active control of the fan, and further the synchronous integrated stable control of the active control of the floating foundation and the active control of the fan is realized.
Drawings
Fig. 1 is a front view of the present invention.
Fig. 2 is a side view of the present invention.
Fig. 3 is a schematic view of the retractable full-circle-turning propeller of the present invention.
Fig. 4 is an example of an arrangement of the retractable full-turn propeller array of the present invention.
Fig. 5 is a schematic diagram of the active control mode of the floating foundation when the average wind moment is balanced.
FIG. 6 is a schematic diagram of the active control mode of the floating foundation in a floating state according to the present invention.
FIG. 7 is a schematic diagram of an active-passive combined control system of the present invention.
Detailed Description
In order that those skilled in the art will better understand the technical solutions of the present invention, the following description of the preferred embodiments of the present invention is provided in conjunction with specific examples, but it should be understood that the drawings are for illustrative purposes only and should not be construed as limiting the patent; for the purpose of better illustrating the embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted. The positional relationships depicted in the drawings are for illustrative purposes only and are not to be construed as limiting the present patent.
The invention will be further described with reference to the following examples and figures 1 to 7, but without limiting the invention thereto.
The present embodiment exemplifies the present invention with a typical three-pontoon type floating wind power structure as a specific object. As shown in fig. 1, the fan part of the three-pontoon type floating wind power structure comprises a hub 1, blades 2 and a nacelle 3. Wherein, the wind speed measuring device 4 is arranged on the engine room 3, the fan pitch controller is arranged at the hub 1, and the fan yaw device 5 is arranged at the connecting position of the engine room 3 and the tower 6. An inertial measurement unit sensor (IMU) will be installed within the nacelle 3 to monitor the three-axis acceleration and angular velocity at the nacelle.
As shown in fig. 1, the tower 6 of the three pontoon-type floating wind power structure serves to connect the upper fan to the lower floating foundation 8, and the tuned mass damper 7 is housed in the tower 6.
As shown in fig. 1, the floating foundation 8 of the three-pontoon type floating wind power structure is composed of three column-type pontoons, horizontal stay bars and diagonal stay bars are arranged among the pontoons, the tower 6 is placed on one of the pontoons, structurally belongs to an eccentric structure, and the gravity center of the structure needs to be ensured to be positioned at the plane geometric centroid (triangle) of the structure by adjusting the weight of ballast water in the three pontoons.
As shown in fig. 1, a telescopic full-circle-turning propeller 9 is arranged outside the floating foundation 8. The telescopic full-circle-turning propeller 9 is shown in fig. 3, and comprises an electromechanical controller 91, a telescopic vertical rotating shaft 92, a horizontal rotating shaft 93 and a propeller 94. The electromechanical controller 91 is used for receiving an instruction of the floating foundation motion control terminal and outputting current, the telescopic vertical rotating shaft 92 controls the up-down telescopic motion and the rotation in the horizontal plane of the propeller, and the horizontal rotating shaft 93 controls the out-of-plane rotation of the propeller. The telescopic full-rotation propeller 9 can provide 360-degree omnibearing thrust. The arrangement of the telescopic full-circle-turning propeller 9 can be specifically designed according to the specific requirements (storm and flow conditions in the service area) of the engineering example, and a preferred arrangement of the telescopic full-circle-turning propeller 9 of this embodiment is shown in fig. 4.
As shown in fig. 1, mooring lines 10 are passed through fairlead openings into the interior of floating foundation 8 to provide mooring and positioning for the foundation structure. The floating foundation 8 is a large steel structure, the joints of the plates and the pipe members are welded, and the mooring cable 10 is made of steel anchor chains or nylon or polyester fiber materials according to actual engineering.
Fig. 5 shows that in the present invention, the floating state of the structure is adjusted by the arranged array of the retractable full-rotation propellers, the average rotational displacement and the average horizontal displacement are calculated by extracting the slowly varying signals in the IMU signal, and then the feedforward adjustment is realized by the retractable full-rotation propellers, so as to ensure that the balance position of the periodic motion of the structure is near the positive floating state, thereby effectively reducing the range of the motion inclination angle of the fan, and improving the power generation efficiency. As shown in fig. 5, when the average wind-leaning moment causes a constant tilt angle to the floating foundation, the telescopic full-circle thruster is turned on, and the output force angle is adjusted to generate a torque opposite to the average wind-leaning moment to the floating structure, so that the floating structure is returned to the positive floating state.
Fig. 6 shows a mode of adjusting the horizontal displacement of the structure by the arranged telescopic full-circle-rotation thruster arrays, under the condition of wind-leaning moment and ocean current, one thruster is responsible for providing reverse rotation moment, and the other thruster is responsible for providing horizontal thrust, so that the floating body is ensured to be in the designed working position, the floating offshore wind power structure can be in the designed balance position as much as possible, the stretching of the power transmission submarine cables is reduced, and the damage to the power transmission submarine cables is reduced.
FIG. 7 is a schematic diagram of an active-passive combined control system of the present invention. The three-axis acceleration and the angular velocity obtained by IMU monitoring in the cabin 3 can obtain the motion states of displacement, velocity and the like of the floating wind power structure cabin through a displacement reconstruction algorithm. The motion states are used as the input of a fuzzy control system, and the instructions of the telescopic full-rotation propeller 9 are calculated by a multi-section PID control method through comparison with the target motion state to control the floating foundation. The control effect of the telescopic full-rotation propeller 9 can be superposed with the result of TMD control in the tower, the motion response at the engine room is further reduced, the target motion state is finally achieved, and the dynamic instability phenomenon caused by the active control of the floating foundation can be effectively avoided by adding the TMD control. It should be noted that the fuzzy control system compares the measured state of the IMU with the target control state, so the calculation of the fuzzy control system has indirectly considered the influence of the TMD. Meanwhile, an active control algorithm in the cabin performs yaw control and pitch control by taking a target control state set in the fuzzy control system as an input condition. Finally, the control system realizes the active control synchronization of the fan and the floating foundation.
The specific design and construction method of the invention is as follows: firstly, designing the draft and the displacement of a floating foundation 8 according to basic parameters of an offshore wind generating set, marine environmental conditions of a service engineering field and engineering geological conditions, and further determining the diameter and the height of a buoy, the diameter and the wall thickness of a horizontal strut and an inclined strut. And then the floating barrels, the horizontal support rods and the inclined support rods of the floating foundation are rolled and welded in the building base to complete the manufacturing. And thirdly, assembling the buoy, the horizontal support rod and the diagonal support rod to complete large folding. An opening is reserved at the bottom of the floating foundation and used for installing the telescopic full-rotation propeller 9. The electromechanical control part of the telescopic full-rotation propeller 9 is installed in the floating foundation cabin through bolt connection, and the telescopic arm, the rotary arm and the propeller part of the telescopic full-rotation propeller extend out of the floating foundation cabin through the opening (the installation position is sealed to the opening position through the concave ring and the sealant). Whether the installation of the tower and the wind turbine is finished in the building base is determined according to the installation modes of the tower and the wind turbine generator set. In order to reduce offshore construction operation, a tower barrel and a wind generating set can be installed in a building base, then the tower barrel and the wind generating set are towed to an engineering field area to be in place, a mooring rope 10 is laid, and finally installation is completed, and the telescopic full-circle-rotation propeller 9 can be used for auxiliary positioning and installation in the installation process of the mooring rope.
The invention is mainly applied to the wind turbine foundation structure in the offshore wind power generation industry, in particular to the foundation structure serving in an engineering field with the water depth of more than 50 meters, but not limited to the above. The technical scheme of the invention can be used for improving other foundations such as an offshore observation platform and the like related to an engineering structure, so that the main dimension of the buoy is reduced, the integral steel consumption is reduced, the eccentric phenomenon, the average rotation angle and the average horizontal displacement of the foundation structure are reduced, the motion response of the foundation structure is reduced, the reliability of the structure is improved, and the fatigue life of the structure is prolonged. No matter what type of fan foundation structure, the foundation structure is in the protection range of the invention as long as the foundation structure conforms to the design principle that the propeller device is arranged on the outer side of the structure, the electric energy generated by the wind generating set is utilized without installing an additional power device, the main scale of the buoy is reduced, the overall steel consumption is reduced, the eccentricity phenomenon of the foundation structure is reduced, the motion response of the foundation structure is reduced, the reliability and the fatigue life of the structure are improved, and the generated energy of the wind generating set is improved.
The technical features (the components/elements of the invention) of the wind turbine pitch controller, the inertial measurement unit sensor, the electromechanical controller, etc. are all obtained from conventional commercial sources or manufactured by conventional methods, if no special description is provided, and the specific structure, the operation principle, the control mode and the spatial arrangement mode which may be involved are all selected conventionally in the field, and should not be regarded as the innovation point of the invention, and it is understood by those skilled in the art, and the patent of the invention is not detailed further.
It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined and defined by the appended claims.
Claims (7)
1. An active-passive combined control system of a floating offshore wind power structure comprises a floating foundation, and a fan and a tower arranged above the floating foundation, and is characterized in that: the fan is provided with an active control system at least consisting of a wind speed measuring device, a fan yaw device, a fan variable pitch controller and a fan variable pitch control terminal, and the fan tower is provided with a tuned mass damper for passively controlling vibration; the wind turbine is provided with an inertial measurement unit sensor for measuring triaxial acceleration and angular velocity at the cabin and a floating foundation motion control terminal for receiving velocity signals, and the floating foundation is provided with a plurality of telescopic full-rotation propellers controlled by the floating foundation motion control terminal;
the floating type basic motion control terminal carries out signal reconstruction on the triaxial acceleration and the angular velocity measured by the inertial measurement unit sensor by using a structure dynamic displacement non-integral reconstruction method to obtain a displacement signal, and then controls the telescopic full-rotation propeller array by using a double-output proportional-integral-derivative PID fuzzy control method; and the floating foundation motion control terminal performs feedforward control on the basis of the slowly-varying quantity in the displacement signal to eliminate the average drift quantity of the structure motion, wherein the average drift quantity comprises a corner caused by average wind inclination and average horizontal displacement caused by ocean current.
2. Active-passive combined control system of a floating offshore wind power structure, according to claim 1, characterized in that: the telescopic full-rotation thruster comprises an electromechanical controller, a telescopic vertical rotating shaft, a horizontal rotating shaft and a propeller; the electromechanical controller is used for receiving an instruction of the floating foundation motion control terminal and outputting current, the telescopic vertical rotating shaft controls the up-down telescopic of the propeller and the rotation in a horizontal plane, and the horizontal rotating shaft controls the out-of-plane rotation of the propeller; the telescopic full-rotation propeller can provide 360-degree omnibearing thrust.
3. Active-passive combined control system of a floating offshore wind power structure, according to claim 1, characterized in that: the inertial measurement unit sensor is mounted in the fan nacelle, the floating foundation motion control terminal is mounted in the fan nacelle, and the tuned mass damper is mounted in the fan tower.
4. Active-passive combined control system of a floating offshore wind power structure, according to claim 1, characterized in that: the wind speed measuring device is arranged on the fan engine room, the fan variable pitch controller is arranged on the fan hub, and the fan yawing device is arranged at the connecting position of the fan engine room and the tower.
5. The method for realizing the active-passive combined control system of the floating offshore wind power structure, according to claim 1, is characterized in that, under the working condition, the wave load suffered by the floating foundation is a high frequency load, the wind load suffered by the upper fan belongs to a low frequency slowly varying load, and the control system synchronously adjusts and controls the floating foundation and the upper fan, and comprises the following specific steps:
s1, obtaining a real-time motion state of a floating wind power structure cabin through a displacement reconstruction algorithm by using three-axis acceleration and angular velocity obtained by monitoring by an inertial measurement unit sensor in the cabin, wherein the real-time motion state comprises displacement, velocity and acceleration;
s2, taking the real-time motion state of the engine room obtained in the S1 as the input of a fuzzy control system in the floating foundation control terminal, comparing the real-time motion state with a target motion state, calculating an instruction of the telescopic full-rotation propeller by a multi-section PID control method, and controlling the floating foundation;
s3, the fan control terminal takes a wind load signal of the wind measuring device and a target motion state of the floating foundation as input and gives fan control based on a yaw and pitch BP neural network;
and S4, a tuned mass damper installed in the tower gives a passive control response based on active control of the wind turbine engine room and active control of the floating foundation, weakens coupling between active control adjustment of the floating foundation and active control adjustment of the wind turbine, improves stability of synchronous integrated control, and reduces transient instability probability caused by synchronous active control.
6. The realization method of the active-passive combined control system of the floating offshore wind power structure, according to claim 1, the control strategy is characterized in that under the self-existing working condition, the upper fan stops the machine for self-locking at the first time, and the wind load suffered by the upper fan is reduced; the control system only controls the output force of the propeller array of the floating foundation to obtain the minimum motion response and realize the maximization of the survival capacity, and the specific steps are as follows:
s1, obtaining a real-time motion state of a floating wind power structure cabin through a displacement reconstruction algorithm according to triaxial acceleration and angular velocity obtained by monitoring of an inertial measurement unit sensor in the cabin, wherein the real-time motion state comprises displacement, velocity and acceleration;
s2, the fan active control system judges that the working condition is too bad at the moment and belongs to a self-storage working condition, and the active control system sends out a fan self-locking and emergency stop instruction;
s3, taking the real-time movement state of the engine room obtained in the S1 as the input of a fuzzy control system in a floating foundation control terminal, comparing the real-time movement state with a target movement state, calculating an instruction of the telescopic full-rotation propeller by a multi-section PID control method, and controlling the floating foundation;
and S4, a tuned mass damper installed in the tower gives out passive control response based on floating foundation active control, and the tower vibration response is weakened.
7. The method for implementing the active-passive combined control system of a floating offshore wind power structure according to claim 1, wherein the construction part of the system comprises the following steps:
s1, designing the draft and the displacement of a floating foundation according to basic parameters of an offshore wind generating set, marine environment conditions of a service engineering field and engineering geological conditions, and further determining the design specification of the floating foundation;
s2, manufacturing the fan in a construction base according to the determined floating foundation design specification, and meanwhile, completing the assembly of the fan, the active control system and the passive control system;
and S3, towing the assembled floating foundation and the fan to an engineering field area, and then laying a mooring cable, wherein the telescopic full-rotation propeller can be used for auxiliary positioning and installation in the installation process of the mooring cable.
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| CN114934873A (en) * | 2021-09-18 | 2022-08-23 | 苏州新三力风电科技有限公司 | Multi-impeller cascading floating foundation for wind power system |
| CN114802631A (en) * | 2022-06-23 | 2022-07-29 | 南通中舟风电工程技术有限公司 | Offshore wind power floating barrel platform |
| CN115750232B (en) * | 2022-11-14 | 2023-09-12 | 大连理工大学 | Deep-open sea floating fan gas-liquid double-control type anti-rolling control system |
| CN115924016A (en) * | 2023-03-03 | 2023-04-07 | 广东海装海上风电研究中心有限公司 | Semi-active ballast system of floating wind power platform |
| CN116767428B (en) * | 2023-07-31 | 2024-04-30 | 上海勘测设计研究院有限公司 | Mooring system and monitoring method of floating type offshore wind power platform |
| CN117231424B (en) * | 2023-11-13 | 2024-02-06 | 中国海洋大学 | Floating fan typhoon-resisting method based on ultralow rotation speed control |
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