JP2018019586A - Anchorless floating power plant system - Google Patents

Abstract

An anchor-free floating power plant system including a floating power plant, a global positioning system (GPS) positioning system, a power system and a control system is provided. A floating power plant system includes a GPS positioning system configured to perform GPS positioning on the floating power plant, a power system configured to drive the floating power plant, and a GPS positioning system. And a control system 4 configured to control the power system based on the GPS positioning information. [Selection] Figure 2

Description

  The present disclosure relates to power plant systems, and more particularly to anchorless floating power plant systems.

Currently, all floating power plants need to be secured using anchor systems. In addition to supporting the maximum applied force of the entire solar array, the anchor system also needs to adapt to changes in the water level to control the maximum horizontal movement of the anchor system. This system mainly includes an anchor cable, a submarine anchor base, a weight block and various connection fittings. As shown in FIG. 1, the photovoltaic power generation assembly 1 is fixed on a floating pontoon 2 provided with a floating power generation plant, and an anchor chain 3 is connected to an anchor block 4. The anchor chain 3 is generally a cable made of a stainless steel chain, a wire rope, or various polymer materials. The anchor block 4 is generally a bottom anchor base and is a traditional iron anchor with mainly reinforced concrete blocks or sharp corners. At present, it is difficult to track assemblies in floating power plants and there is no mature solution.

  Such anchor systems are very complex and need to be designed based on weather conditions, hydrological data, bottom terrain, etc., for the location of the station.

However, the anchor system still has the following drawbacks that are difficult to solve.
1. The anchor system is complicatedly designed. It is difficult for the anchor system to adapt to large changes in the water level, and it is difficult to control the horizontal movement of the system during the dry season.
2. Since the anchor system is immersed in water in the long term, it is difficult to achieve high cost performance in the corrosion resistance of the anchor system.
3. Because the anchor system is complex under water, it is difficult to operate and maintain the anchor system.
4). It is impossible to rotate the entire array platform to track the power plant due to the anchor system boundaries.

  The present disclosure overturns floating power plant anchor system technology by providing an anchor-free floating power plant system in response to the above technical difficulties and deficiencies. Since there is no anchor system, the above defects no longer exist.

The solution according to the present disclosure is as follows. An anchor-free floating power plant system
A floating power plant, a global positioning system (GPS) positioning system configured to perform GPS positioning on the floating power plant, a power system configured to drive the floating power plant, and a GPS positioning system And a control system configured to control the power system based on the GPS positioning information.

  As a further improvement of the above solution, the power system includes one or more power propeller structures mounted on a floating power plant. Each power propeller structure includes a mount, a first power source, a propeller, a drive shaft, a ball roller bearing, a positioning pin, a spur gear set, a second power source, a thrust ball bearing, a sheath tube, A first power source, a propeller, a drive shaft, a ball roller bearing, a positioning pin, a spur gear set, a second power source, a thrust ball bearing, a sheath tube, and a bevel gear set. Attached to the mount. All power propeller structures are fixed to the floating power plant via a mount. The drive motor is configured to transmit power through the drive shaft, and the drive shaft is configured to change the driving direction of the force through the bevel gear set, and finally the propeller is applied with force to move. Generate power to drive the array. The step motor is configured to drive the sheath tube via the spur gear set, and is disposed between the positioning pin and the thrust ball bearing, and changes the driving direction of the propeller.

  Further, the first power source is a drive motor, and the second power source is a step motor.

  As a further improvement of the above solution, the GPS positioning system includes a reference site device and at least two GPS receivers, one of the plurality of GPS receivers being mounted on the reference site device and other than the GPS receiver. The GPS receiver is mounted on the floating power plant.

  Further, the control system includes an azimuth control mode. In azimuth control mode, the initial position of the floating power plant is determined, the real time position of the floating power plant is obtained in real time by the GPS positioning system, and the real time position is compared with the initial position to design the floating power plant. Deviating from position, the power system determines an azimuth to zero the azimuth offset of the floating power plant.

Furthermore, the design position of the GPS receiver mounted on the floating power plant is A ₀ (A ₀ x, A ₀ y, A ₀ z), and the real-time position deviated from the design position of the GPS receiver is A When (Ax, Ay, Az) is set and the coordinate origin is O (Ox, Oy, Oz), the control method corresponding to the azimuth angle control mode is:
Receiving an azimuth offset θ that is the included angle between the vector A ₀ O and the vector A ₀ ;
Filtering the azimuthal offset θ;
Using a proportional-integral control method, the control offset is first determined as Δθ, the propeller line speed of the power propeller structure is the same as the angular speed of the propeller rotating about the coordinate origin O and the coordinate origin O is The step of completing the azimuth control of the floating power plant when the angular acceleration of the propeller rotating around the center is controlled to be the same and the azimuth offset θ of the floating power plant is in the range of -Δθ to + Δθ. including.

Preferably, when a plurality of GPS receivers are mounted on a floating power plant, after the azimuth offset θ is filtered, the azimuth offset θ needs to be weighted. Performing processing and weighting processing
Obtaining real time positions of a plurality of GPS receivers;
Calculate azimuth offsets θ _1, θ _2, θ _3, ...
Sorting the azimuth offsets θ _1, θ _2, θ _3, ... In the ascending order as θsmallest, θsecondary-smallest,..., Θsecondary-gratest, θgratest;
Calculating the standard deviation β of the azimuth offsets θ _1, θ _2, θ ₃ ,.
It is determined whether or not β is smaller than Δβ. When β is smaller than Δβ, the azimuth offsets θ _1, θ _2, θ _3, ... are weighted and averaged, while when β is larger than Δβ, | θ Determining whether or not −θsmallest | <Δβ ₁ is satisfied;
When the condition of | θgrateest−θsmallest | <Δβ ₁ is satisfied, the azimuth offsets θ _1, θ _2, θ _3, ... Are weighted and averaged, while when the condition of | θgreest−θsmallest | <Δβ ₁ is not satisfied. , Deleting θcreatest and θsmallest to generate a new sequence;
It is determined whether or not the number of members of the new sequence is greater than 3, and when the number of members of the new sequence is greater than _{3, the process} returns to the step of calculating the standard deviation β of the azimuth offsets θ _1, θ _2, θ ₃ ,. On the other hand, re-acquiring real-time positions of a plurality of GPS receivers when the number of members of the new sequence is not greater than 3.
Here, both the [Delta] [beta] and [Delta] [beta] ₁ is a predetermined threshold value.

Furthermore, the design position of the GPS receiver mounted on the floating power plant is A ₀ (A ₀ x, A ₀ y, A ₀ z), and the real-time position of the GPS receiver deviating from the designed position is A When (Ax, Ay, Az) is set and the coordinate origin is (Ox, Oy, Oz), the control system includes a horizontal movement control mode. The control method corresponding to the horizontal movement control mode is that the vector A ₀ A is the horizontal movement of the entire array, and using the proportional integral control method, the control offset is first determined as ΔD, and the propellers of all power propeller structures are Adjusting the direction to the same direction as the vector AA ₀ and completing the horizontal movement control when the horizontal movement of the floating power plant is within the range of ΔD to + ΔD.

Furthermore, when a plurality of GPS receivers are mounted on a floating power plant, it is necessary to perform a weighting process on the control offset D after the filter process on the control offset D. And performing the weighting process
Obtaining real time positions of a plurality of GPS receivers;
Calculating control offsets d ₁ , d ₂ , d ₃ ,... Of a plurality of GPS receivers;
Sorting the control offsets d ₁ , d ₂ , d ₃ ,... In ascending order as dsmallest, dsecondary-smallest,..., Dsecondary-gratest, dgratest;
Calculating a standard deviation d of the control offsets d ₁ , d ₂ , d ₃ ,.
It is determined whether or not d is smaller than Δd. When d is smaller than Δd, control offsets d ₁ , d ₂ , d ₃ ,... are weighted and averaged. determining whether the condition of dgreestest-dsmallest | <Δd ₁ is satisfied;
The control offsets d ₁ , d ₂ , d ₃ ,... Are weighted and averaged when the condition of | dgrateest−dsmallest | <Δd1 is satisfied, while the value of dgrateest−dmallest | <Δd1 is not satisfied deleting dsmallest and generating a new sequence;
While determining whether the number of members of the new sequence is greater than ₃ , while returning to the step of calculating the standard deviation d of the control offsets d ₁ , d ₂ , d ₃ ,. Re-acquiring real-time positions of a plurality of GPS receivers when the number of members of the new sequence is not greater than 3;
Here, both Δd and Δd ₁ are preset threshold values.

Preferably, the control system includes three modes of operation including a positioning mode, a tracking mode, and a risk avoidance mode.
In the positioning mode, the control system uses the designed position and azimuth of the floating power plant to detect the floating power plant's attitude in real time, first controls the azimuth, and then controls the horizontal of the floating power plant. When the movement exceeds the set range of ΔD to + ΔD, or when the azimuth angle of the floating power plant exceeds the range of −Δθ to + Δθ, the floating power plant is reset by controlling the horizontal movement.
In the tracking mode, at the water level relative to the coordinate origin O (Ox, Oy, Oz), the azimuth angle of the floating power plant allows the photovoltaic assembly to face the sun directly all day and receive maximum solar energy. To change.
In risk avoidance mode, according to the weather forecast to achieve the minimum wind area of the floating power plant, the floating power plant is set to the specified azimuth angle in advance so that the floating power plant will not capsize or break under extreme weather conditions. When rotated, the floating power plant is moved to a safe body of water based on a dry season water level monitoring system so that the floating power plant is not subjected to stranding caused by water drought.

  According to the present disclosure, the solar cell array is tracked and positioned by the cooperation between the GPS positioning system and the power system fixed on the solar cell array. Since the anchor system does not exist, the above four defects described in the background art section do not exist. In addition, by controlling the power system without the boundary of the anchor system, it is easy to operate the solar cell array based on the motion trajectory set by the control system (positioning, rotation, horizontal movement etc.) Including). Since the entire array is fixed by controlling the power system, if the array is not connected to a bottom anchor cable, the solar array can produce a large movable floating platform, which Can also be adapted.

It is a schematic structure figure of the existing fixing system. 1 is a schematic structural diagram of an anchorless floating power plant system according to the present disclosure. FIG. FIG. 3 is a schematic structural diagram of a power propeller structure of the power system of FIG. 2. The flowchart which performs a filtering process and a weighting process It is a coordinate on the coordinate in the azimuth angle control mode which concerns on 1st Embodiment. It is a flowchart which performs the filtering process and weighting process of the coordinate in the horizontal movement control mode which concerns on 1st Embodiment. 2 is a schematic virtual view of coordinates of an anchorless floating power plant system according to the present disclosure. FIG. It is a flowchart which performs the filtering process and the weighting process of the coordinate in the azimuth control mode which concerns on 2nd Embodiment. It is a schematic module block diagram of the azimuth angle control mode of FIG. It is a flowchart which performs a filtering process and a weighting process. It is a coordinate on the coordinate in the horizontal movement control mode which concerns on 2nd Embodiment. And FIG. 10 is a schematic module structure diagram of the horizontal movement control mode of FIG. 9.

  In order to make the objectives, solutions and advantages of the present disclosure clearer and clearer, the present disclosure will be described in detail with reference to the drawings and embodiments. It should be understood that the embodiments described herein are merely illustrative of the disclosure and do not limit the disclosure.

  Referring to FIG. 2, the anchorless floating power plant system according to the embodiment includes a floating power plant, a global positioning system (GPS) positioning system, a power system 3 and a control system 4. The GPS positioning system is configured to perform GPS positioning in a floating power plant. The power system 3 is configured to drive a floating power plant. The control system 4 is configured to control the power system 3 based on GPS positioning information from the GPS positioning system.

  The floating power plant is a control target of the control system 4. In this embodiment, the floating power plant includes a plurality of floating bodies 1, a plurality of photovoltaic power generation assemblies 2 attached to the floating bodies 1, and a connection member that connects the floating bodies 1 as a floating array (see FIG. Not shown).

The GPS positioning system includes a reference site device 5 and a GPS receiver mounted on the floating power plant (e.g., mounted at the four corners of the floating power plant), where the number of GPS (ie, the GPS receiver's Number) is 2 or more installed in the floating power plant. One of the GPS receivers 7 is mounted on the reference site device 5, and a GPS receiver 7 other than the GPS receiver mounted on the reference site device 5 is mounted on the floating power generation plant. These GPS receivers 7 simultaneously observe the same satellite and determine the real-time position of the GPS receiver mounted on the solar cell array (that is, the floating power plant) with respect to the reference value. Furthermore, it calculates by determining the real-time attitude | position of a solar cell array, and calculating the position of the GPS receiver 7. FIG.

  The power system 3 has a high power propeller structure mounted on the photovoltaic cell array. As shown in FIG. 3, each power propeller structure includes a mount 121, a first power source, a propeller 11, a drive shaft 12, a ball roller bearing 13, a positioning pin 14, a spur gear set 15, 2 power supply, thrust ball bearing 17, sheath tube 19, and bevel gear set 120, the first power supply, propeller 11, drive shaft 12, ball roller bearing 13, positioning pin 14, The gear set 15, the second power source, the thrust ball bearing 17, the sheath tube 19, and the bevel gear set 120 are attached to the mount 121. The first power source may be the drive motor 10, and the second power source may be the step motor 16. Prior to this, each existing floating power plant would be cabled without proposing a power system design concept.

  The mount 121 is provided with a plurality of fixing holes 18, and all power propeller structures are fixed to the solar cell array through the fixing holes 18. The drive motor 10 is configured to transmit power via the drive shaft 12, and the drive shaft 12 changes the driving direction of the force via the bevel gear set 120, and finally the force is applied to the propeller 11. , Configured to generate and move power to drive the array. The step motor 16 is configured to change the driving direction of the propeller 11 by driving the outer cylinder 19 via the spur gear set 15, the positioning pin 14 and the thrust ball bearing 17. In this case, the direction of the propeller 11 can be adjusted 360 degrees in the horizontal direction. The propeller 11 can receive a control command from the control device 4, rotate the entire solar cell array, and supply electric power for driving the solar cell array horizontally.

  The control system 4 includes a wireless transceiver, a computer control system, and a monitoring system. The wireless transceiver is configured to receive the position signal of the solar cell array determined by the GPS positioning system and control (track, position) the power system 3 in different operating modes, thereby Track fixed on the water surface.

  The control system 4 controls the power system 3 mainly in two control modes, an azimuth control mode and a horizontal movement control mode, which is the focus of research and development of the present disclosure and will be described in detail below.

  In the azimuth control mode, the initial position of the floating power plant is determined, the real time position of the floating power plant is obtained in real time by the GPS positioning system, the real time position is compared with the initial position, and the floating power plant is designed An azimuth angle deviating from the location is determined. The power system then zeros the azimuth offset of the floating power plant.

The design position of the GPS receiver installed in the floating power plant is A ₀ (A ₀ x, A ₀ y, A ₀ z), and the position deviating from the design position of the GPS receiver is A (Ax, Ay , Az) and the coordinate origin is O (Ox, Oy, Oz), the control method corresponding to the azimuth control mode is
Receiving an azimuth offset θ that is the included angle between the vector A ₀ O and the vector A ₀ ;
Filtering the azimuthal offset θ;
Using a proportional-integral control method, the control offset is first determined as Δθ, the propeller line speed of the power propeller structure is the same as the angular speed of the propeller rotating about the coordinate origin O and the coordinate origin O is Completing the azimuth control of the floating power plant when the angular acceleration of the propeller rotating about the center is controlled to be the same and the azimuth offset θ of the floating power plant is in the range of -Δθ to + Δθ. .

As shown in FIG. 4, when a plurality of GPS receivers are mounted on a floating power plant, after the azimuth offset θ is filtered, the azimuth offset θ needs to be weighted. Performing filtering and weighting on the offset θ
Obtaining real time positions of a plurality of GPS receivers;
Calculating azimuth offsets θ _1, θ _2, θ _3, ... Of a plurality of GPS receivers;
Sorting the azimuth offsets θ _1, θ _2, θ _3, ... In the ascending order as θ smallest, θ secondary-smallest,..., Θ secondary-gratest, θgratest;
Calculating the standard deviation β of the azimuth offsets θ _1, θ _2, θ ₃ ,.
It is determined whether or not β is smaller than Δβ. When β is smaller than Δβ, the azimuth offsets θ _1, θ _2, θ _3, ... are weighted and averaged, while β is equal to or larger than Δβ. , | Θgrateest−θsmallest | <Δβ ₁ , and weights and averages the azimuth offsets θ _1, θ _2, θ _{3, and so on} when the condition | θgreest−θsmallest | <Δβ ₁ is satisfied. on the other hand, | and generating a new sequence by removing Shitagreatest and Shitasmallest when <of [Delta] [beta] ₁ condition is not satisfied, | θgreatest-θsmallest
It is determined whether or not the number of members of the new sequence is greater than 3, and when the number of members of the new sequence is greater than _3, the standard deviation β of the azimuth offsets θ _1, θ _2, θ ₃ ,. Back one, and a step of re-acquiring the real-time location of a plurality of GPS receivers when the number of members the new sequence is not greater than 3, wherein both the [Delta] [beta] and [Delta] [beta] ₁ is a predetermined threshold value It is.

The control method corresponding to the horizontal movement control mode is that the vector A ₀ A is the horizontal movement of the entire array, and by using the proportional integral control method, the control offset is first determined as ΔD, and the propellers of all power propeller structures are determined. adjust the direction so that the same becomes the direction of the vector AA _0, the horizontal movement control when the horizontal movement of the floating power plant is within the range from [Delta] D + [Delta] D is completed.

As shown in FIG. 5, when a plurality of GPS receivers are installed in a floating power plant, after the control offset D is filtered, the control offset D is weighted. Performing filtering and weighting on D
Obtaining real time positions of a plurality of GPS receivers;
Calculating control offsets d ₁ , d ₂ , d ₃ ,... Of a plurality of GPS receivers;
Sorting the control offsets d ₁ , d ₂ , d ₃ ,... In ascending order as dsmallest, dsecondary-smallest,..., Dsecondary-gratest, dgratest;
Calculating a standard deviation d of the control offsets d ₁ , d ₂ , d ₃ ,.
It is determined whether or not d is smaller than Δd. When d is smaller than Δd, the control offsets d ₁ , d ₂ , d ₃ ,... are weighted and averaged. dsmallest | <determines whether _{Δd 1, | dgreatest-dsmallest |} < control offset _d 1 when satisfying the _{Δd 1, d 2, d 3} , while averaging weighted ..., | generating a new sequence by deleting dgreestest and dsmallest when the condition dgreestest-dsmallest | <Δd ₁ is not satisfied;
While determining whether the number of members of the new sequence is greater than ₃ , while returning to the step of calculating the standard deviation d of the control offsets d ₁ , d ₂ , d ₃ ,. Re-acquiring real-time positions of a plurality of GPS receivers when the number of members of the new sequence is not greater than 3;
Here, both Δd and Δd ₁ are preset threshold values.

A method for controlling an anchorless floating power plant system is also one of the focus of the present disclosure and will be described in more detail. For example, three GPS receivers 7 are fixed to the solar cell array. The three GPS receivers have a GPS receiver A at a position of A (Ax, Ay, Az), a GPS receiver B at a position of B (Bx, By, Bz), and C (Cx, Cy, Cz). ) So that there is a GPS receiver C, where the origin is O at the position of O (Ox, Oy, Oz). The geometric center of the solar cell array is set to be O (Ox, Oy, Oz). In addition, as shown in FIG. 6, the power propeller 11 has D ₁ (D ₁ x, D ₁ y, D ₁ z), D ₂ (D ₂ x, D ₂ y, D ₂ z), D ₃ (D ₃ x, D ₃ y, D ₃ z) is provided.

The design positions of the GPS receivers A, B, and C are A ₀ (A ₀ x, A ₀ y, A ₀ z), B ₀ (B ₀ x, B ₀ y, B ₀ z), and C ₀ ( C ₀ x, C ₀ y, C ₀ z).

1. Azimuth control

  First, the initial position of the floating power plant is determined. The real-time position of the floating power plant is acquired in real time by the GPS positioning system, and the real-time position is compared with the initial position to determine the azimuth angle. Floating power plants deviate from where they were designed. And the electric power system 3 makes the azimuth offset of a floating electric power plant zero.

That is, first, two fixed GPS receivers on independent arrays are determined, and the initial positions of the two GPS receivers, i.e., position locations, are defined and recorded by the design. The GPS receiver's real-time position is compared with the corresponding designed position acquired in real time by the information acquisition system to determine the rotation angle that deviates from the designed position and control the power system Set the rotation angle to zero.

In the method for controlling the azimuth, the azimuth offset θ is the included angle between the vector A ₀ O and the vector A ₀ . The system also recognizes the included angle between the vector B ₀ O and the vector BO and the included angle between the vector C ₀ O and the vector CO. The acquisition system is controlled to perform filtering processing and weighting processing regarding these three included angles so as to ensure the accuracy of the acquired azimuth angle offset θ. For example, a control method such as a proportional integral control method is used. First, the control offset is determined as Δθ. The line speed of the propeller is controlled so that the angular speeds of the propellers rotating around the geometric center are the same so that the angular accelerations of the propellers rotating around the geometric center are the same. Azimuth control is complete when the azimuth of the array is in the range of -Δθ to + Δθ.

A, B, C, a process of performing a filtering process and the weighting process with respect to the coordinates of the O shown in FIG. 7, where, [Delta] [beta] and [Delta] [beta] ₁ is a predetermined threshold. The azimuth angle control is shown in FIG. 8, and after performing filtering processing and weighting processing on the coordinates of A, B, C, and O, performing feedback offset processing, control information for driving the power system is obtained. Output.

2. Horizontal movement control

Vector A ₀ A is the horizontal movement of the entire array. A proportional integral control method or the like is used. In this method, the control offset is first determined as ΔD and adjusted so that the propeller direction of all power propeller structures is the same as that of vector AA ₀ . When the horizontal movement of the array is in the range from ΔD to + ΔD, the filtering process and the weighting process in the coordinate system in which the horizontal movement control is completed are for the azimuth control process. As shown in FIG. 9, Δd and Δd1 are preset threshold values. Horizontal movement control is shown in FIG.

  In an anchorless floating power plant system according to the present disclosure, the control system can be designed to have the following three modes of operation:

1. Positioning mode

  The control system uses the designed position and azimuth angle of the array to detect the attitude of the entire array in real time. The array initially controls the azimuth, and if the horizontal movement of the array exceeds the set range of ΔD to + ΔD, or the azimuth of the array exceeds the range of -Δθ to + Δθ, the horizontal movement is controlled. It is reset by controlling.

Tracking mode

  In track mode, at a water level relative to the geometric center of the entire solar array so that the photovoltaic assembly can directly face the sun and receive maximum solar radiant energy in a day, The azimuth angle of the entire solar cell array is changed.

  First, the motion trajectory of the solar cell array is planned in advance by the control system, that is, planned in advance in 24 sequences (azimuth, time). During the specified period, the entire array is positioned at a particular azimuth by performing azimuth control, and it is determined whether the array is moving in the horizontal direction. If the horizontal movement of the array exceeds the allowable value, it is necessary to reset the array by performing horizontal movement control.

3. Risk avoidance mode

  Under extreme weather conditions determined according to the weather forecast (for example, the weather forecast yellow alarm may report that the weather forecast is unusual), the solar array is It can be rotated to achieve the minimum wind area of the array and ensure that the power plant does not tip over or break.

  During the dry season, based on a water level monitoring system, the photovoltaic array is moved to safe water so that the floating power plant is not subject to twists caused by dry water. When using this method, it is necessary to shut down electricity in advance.

  In conclusion, the present disclosure has the following advantages.

1. The anchor control system acquires GPS positioning information in real time, and controls the power system in real time through the control system so as to ensure that the solar cell array is anchored in a designated area.
2. The dynamic path planning computer control system pre-plans the tracking trajectory of the entire solar cell array, and controls the power system to operate according to the planned path based on the feedback positioning information of the GPS receiver. Track and operate the battery array.
3. If there is a risk of water drying based on the feedback positioning information of the GPS receiver, power generation may be stopped, and the photovoltaic system is drawn out to a safe water area by the power system.

The present disclosure has the following advantages.
1. Complex design and implementation work of conventional anchor systems can be omitted by the system.
2. By changing the fixed array to the tracking array in the tracking mode of the system, the power generation revenue can be effectively improved.
3. This system is highly adaptable to changes in water level.
4). Solar array by power system in very harsh weather. It may be pulled to a safe area.
5. This system can be conveniently installed at low cost.

  The foregoing embodiments are preferred embodiments of the present disclosure and do not limit the present disclosure. All modifications, equivalent substitutions and improvements made within the spirit and principle of the present disclosure fall within the protection scope of the present disclosure.

  This application claims the priority of Chinese Patent Application No. 201610590911.3 entitled “Non-Pumped Power Plant System” filed with the National Intellectual Property Office of China on July 26, 2016. Is incorporated herein by reference in its entirety.

Claims (10)

A floating power plant,
A global positioning system (GPS) positioning system configured to perform GPS positioning on the floating power plant;
A power system configured to drive the floating power plant;
An anchorless floating power plant system comprising: a control system configured to control the power system based on GPS positioning information from the GPS positioning system. The power system includes one or more power propeller structures mounted on the floating power plant,
Each power propeller structure includes a mount, a first power source, a propeller, a drive shaft, a ball roller bearing, a positioning pin, a spur gear set, a second power source, a thrust ball bearing, and a sheath tube. With a bevel gear set,
The first power source, the propeller, the drive shaft, the ball roller bearing, the positioning pin, the spur gear set, the second power source, the thrust ball bearing, the sheath tube, The bevel gear set is attached to the mount,
All the power propeller structures are fixed to the floating power plant through the mounts,
The drive motor is configured to transmit power via the drive shaft, and the drive shaft is configured to change the drive direction of power via the bevel gear set, and finally a force is applied to the propeller. Generating power to drive the array to move,
2. The anchorless floating power generation according to claim 1, wherein a step motor is configured to drive the sheath tube via the spur gear set, the positioning pin, and the thrust ball bearing to change a driving direction of the propeller. 3. Plant system.   The anchor-free floating power plant system according to claim 2, wherein the first power source is the drive motor, and the second power source is the step motor.   The GPS positioning system includes a reference site device and at least two GPS receivers, one of the GPS receivers is attached to the reference site device, and a GPS receiver other than the one PS receiver is a floating power generator. The anchorless floating power plant system according to claim 1 mounted on a plant. The control system includes an azimuth control mode;
In the azimuth control mode, the initial position of the floating power plant is determined, the real time position of the floating power plant is obtained in real time by the GPS positioning system, and the real time position is compared with the initial position to design the floating power plant. The anchorless floating power plant system according to claim 4, wherein an azimuth angle deviating from the location is determined, and the azimuth offset of the floating power plant is zero. The design position of the GPS receiver mounted on the floating power plant is A ₀ (A ₀ x, A ₀ y, A ₀ z), and the real-time position of the GPS receiver deviating from the designed position is A ( Ax, Ay, Az) and the coordinate origin is O (Ox, Oy, Oz)
The control method corresponding to the azimuth control mode is
Receiving an azimuth offset θ that is the included angle between the vector A ₀ O and the vector A ₀ ;
Filtering the azimuth offset θ;
Using the proportional-integral control method, the control offset is first determined as Δθ, the angular velocity of the propeller rotating around the coordinate origin O is the same, and the angular acceleration of the propeller rotating around the coordinate origin O is the same The propeller line speed of the power propeller structure is controlled so that
6. The anchorless floating power plant system according to claim 5, wherein the azimuth angle control of the floating power plant is completed when the azimuth offset of the floating power plant is in the range of -Δθ to + Δθ. When a plurality of GPS receivers are mounted on a floating power plant, it is necessary to perform weighting processing on the azimuth offset θ after filtering the azimuth offset θ,
Filtering and weighting the azimuth offset θ
Obtaining real time positions of the plurality of GPS receivers;
Calculating azimuth offsets θ _1, θ _2, θ _3, ... Of the plurality of GPS receivers;
Sorting the azimuth offsets θ _1, θ _2, θ _3, ... In ascending order as θ smallest, θ secondary-smallest,..., Θ secondary-gratest, θgratest;
Calculating the standard deviation β of the azimuth offsets θ _1, θ _2, θ ₃ ,.
determining whether β is less than Δβ and weighting and averaging the azimuth offsets θ _1, θ _2, θ _3, ... when β is less than Δβ;
When the β ≦ Δβ, | θgreatest-θsmallest | < determines whether a condition of [Delta] [beta] ₁ is satisfied, | θgreatest-θsmallest | <when satisfy the [Delta] [beta] _1, azimuth offset θ _1, θ _{2 ,} Θ _3, ... _, Θ _3, ..., And when the condition of | θ greatest−θ smallest | <Δβ ₁ is not met,
Determining whether the number of members of the new sequence is greater than ₃ and calculating a standard deviation β of azimuth offsets θ _1, θ _2, θ _3, ... when the number of members of the new sequence is greater than ₃ Re-acquiring real-time positions of a plurality of GPS receivers when the number of members of the new sequence is not greater than 3;
The anchor-free floating power plant system according to claim 6, wherein both Δβ and Δβ ₁ are preset threshold values. The design position of the GPS receiver mounted on the floating power plant is A ₀ (A ₀ x, A ₀ y, A ₀ z), and the real-time position of the GPS receiver deviating from the designed position is (Ax, Ay, Az) and the coordinate origin is O (Ox, Oy, Oz)
The control system includes a horizontal movement control mode,
The control method corresponding to the horizontal movement control mode is:
The vector A ₀ A is the horizontal movement of the entire array, using a proportional-integral control method to first determine the control offset as ΔD;
Including adjusting the propeller direction of all power propeller structures to be the same as the direction of vector AA ₀ and completing horizontal movement control when the horizontal movement of the floating power plant is within the range of ΔD to + ΔD The anchorless floating power plant system according to claim 4. When a plurality of GPS receivers are mounted on a floating power plant, after the control offset D is filtered, the filtering process and the weighting process are performed on the control offset D.
Obtaining real time positions of the plurality of GPS receivers;
Calculating control offsets d ₁ , d ₂ , d ₃ ,... Of a plurality of GPS receivers;
Sorting the control offsets d ₁ , d ₂ , d ₃ ,... In ascending order as dsmallest, dsecondary-smallest,..., Dsecondary-gratest, dgratest;
Calculating a standard deviation d of the control offsets d ₁ , d ₂ , d ₃ ,.
It is determined whether or not d is smaller than Δd. When d is smaller than Δd, control offsets d ₁ , d ₂ , d ₃ ,... are weighted and averaged. determining whether the condition of dgreestest-dsmallest | <Δd ₁ is satisfied;
| When <[Delta] d ₁ satisfies the condition, control offset _{d 1, d 2, d 3} , while averaging weighted ..., | | dgreatest-dsmallest dgreatest -dsmallest | < if the condition of [Delta] d ₁ is not satisfied And deleting dgreestest and dsmallest to generate a new sequence;
Determining whether the number of members of the new sequence is greater than ₃ , and calculating the standard deviation d of the control offsets d ₁ , d ₂ , d ₃ ,... When the number of members of the new sequence is greater than ₃ Re-acquiring the real-time positions of the plurality of GPS receivers when the number of members of the new sequence is not greater than 3;
Floating power plant system without anchor according to claim 8 both [Delta] d and [Delta] d ₁ is preset threshold value. The control system has three operation modes including a positioning mode, a tracking mode, and a risk avoidance mode,
In the positioning mode, the control system detects the attitude of the floating power plant and is calculated in real time using the designed position and azimuth of the floating power plant, first controlling the azimuth, and then the floating power plant By controlling the horizontal movement when the horizontal movement exceeds the set range of ΔD to + ΔD, or when the azimuth angle of the floating power plant exceeds the range of −Δθ to + Δθ. The floating power plant is reset,
In the tracking mode, the azimuth angle of the floating power plant is changed at the water level with respect to the coordinate origin O (Ox, Oy, Oz), so that the photovoltaic power generation assembly directly faces the sun all day long and the maximum solar radiation energy Established to receive,
In risk avoidance mode, according to the weather forecast to achieve the minimum wind area of the floating power plant, the floating power plant is set to the specified azimuth angle in advance so that the floating power plant will not capsize or break under extreme weather conditions. The anchor-free anchor of claim 9, wherein the floating power plant is rotated and moved to a safe water area based on a dry season water level monitoring system so that the floating power plant is not stranded due to water drought. Floating power plant system.

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