CN-121979288-A - Floating type wind power platform attitude monitoring and early warning control system

CN121979288ACN 121979288 ACN121979288 ACN 121979288ACN-121979288-A

Abstract

The invention discloses a floating wind power platform attitude monitoring and early warning control system which comprises an attitude sensing module, a data preprocessing module, a central processing module, an early warning module, a regulation and control execution module and a power supply module, wherein the attitude sensing module collects data in multiple dimensions, after dual preprocessing of wavelet threshold denoising and Kalman filtering, the central processing module calculates attitude parameters through a complementary filtering algorithm, and combines a BP neural network dynamic early warning threshold model to judge an abnormal attitude level, so as to trigger the early warning module to perform hierarchical early warning, and meanwhile drive the regulation and control execution module to correct the attitude in a layered level, and the power supply module adopts the cooperation of photovoltaic and lithium batteries to supply power. The invention realizes high-precision real-time monitoring, dynamic intelligent early warning and active linkage regulation and control of the platform posture, improves early warning accuracy and platform operation safety, and is suitable for the deep-open sea floating wind power platform scene.

Inventors

ZHANG JIANHUA
SUN TIANXUE
SUN KE
ZHENG YU
ZHONG LEI
WEI MINGYANG
LIU ZHICHENG
YUE FENG

Assignees

哈尔滨工程大学

Dates

Publication Date: 20260505
Application Date: 20260123

Claims (9)

1. The system is characterized by comprising a gesture sensing module, a data preprocessing module, a central processing module, an early warning module, a regulation and control execution module and a power supply module; the attitude sensing module is used for acquiring attitude data of the floating wind power platform, ocean environment load data and mooring system stress data and transmitting the acquired data to the data preprocessing module; The data preprocessing module is used for denoising, filtering, data synchronization and format conversion processing of the collected original data to obtain standardized effective data, and transmitting the effective data to the central processing module; the central processing module is used for calculating real-time attitude parameters of the platform through a preset attitude resolving algorithm based on standardized effective data, judging whether the attitude of the platform is abnormal or not by combining with a dynamic early warning threshold model, generating an early warning instruction and a corresponding attitude regulation instruction if the attitude is abnormal, and transmitting the early warning instruction and the corresponding attitude regulation instruction to the early warning module and the regulation execution module respectively; The early warning module is used for receiving the early warning instruction sent by the central processing module and executing corresponding early warning operation according to the early warning grade; The regulation and control execution module is used for receiving the gesture regulation and control instruction sent by the central processing module and driving the corresponding execution mechanism to act so as to realize the correction of the gesture of the platform; The power module is used for providing stable working power for each module of the system.
2. The floating wind power platform attitude monitoring and early warning control system according to claim 1, wherein the attitude sensing module comprises an attitude sensor group, an environment load sensor group and a mooring stress sensor group; The attitude sensor group comprises a triaxial gyroscope, a triaxial accelerometer and a triaxial magnetometer which are arranged at the gravity center position of the platform and are used for acquiring angular velocity data, linear acceleration data and magnetic field intensity data of the platform; The environment load sensor group comprises a wind speed and direction sensor arranged at the top of the platform, a wave sensor arranged at the draft of the platform and a ocean current sensor, and is used for acquiring real-time wind speed, wind direction, wave height, wave period, ocean current speed and ocean current direction data; The mooring force sensor group comprises a tension sensor arranged on the mooring ropes of the platform and is used for collecting real-time tension data of each mooring rope.
3. The floating wind power platform attitude monitoring and early warning control system according to claim 1, wherein the specific processing procedure of the data preprocessing module is as follows: And (3) data denoising, namely removing noise in original data by adopting a wavelet threshold denoising algorithm, wherein the wavelet threshold denoising expression is as follows: Wherein, the For the kth wavelet coefficient of the jth layer after wavelet decomposition, For the denoised wavelet coefficient, lambda is the wavelet threshold and sign (·) is the sign function; and (3) data filtering, namely smoothing the denoised number by adopting a Kalman filtering algorithm, wherein the Kalman filtering comprises two stages of prediction and updating, and a state equation and an observation equation of the Kalman filtering are respectively as follows: Prediction stage: Updating: Wherein, the For an a priori state estimate at time k, A posterior state estimation value at the moment k-1, A is a state transition matrix, B is a control input matrix, For the control input at time k-1, For the a priori covariance matrix at time k, The posterior covariance matrix at time k-1, Q the process noise covariance matrix, For Kalman gain, H is the observation matrix, R is the observation noise covariance matrix, The observation value at the moment k is the identity matrix I; Based on the time stamp information of each sensor, adopting a linear interpolation method to perform time synchronization on the data acquired by different sensors; Format conversion, namely converting various synchronous data into a unified digital format.
4. The system of claim 2, wherein the gesture calculation algorithm in the central processing module adopts a complementary filtering algorithm, and combines the angular velocity, linear acceleration and magnetic field intensity data acquired by the gesture sensor group to perform gesture calculation to obtain a real-time gesture angle of the platform, including a roll angle θ, a pitch angle Φ and a yaw angle ψ; The core expression of the complementary filtering algorithm is: wherein, theta 0 、φ 0 、ψ 0 is the initial roll angle, the initial pitch angle and the initial yaw angle respectively, 、、 The angular velocities around the axes acquired by the gyroscopes are respectively represented by theta a 、φ a , the roll angle and the pitch angle are respectively obtained by calculating based on accelerometer data, the phi m is the yaw angle obtained by calculating based on magnetometer data, the alpha and the beta are complementary filtering weight coefficients, and the value ranges are 0< alpha <1 and 0< beta <1.
5. The floating wind power platform attitude monitoring and early warning control system according to claim 1, wherein the dynamic early warning threshold model construction process in the central processing module is as follows: a sample database is constructed, wherein historical attitude data, mooring stress data and corresponding safety state labels of the platform under different ocean environment grades are collected; extracting characteristic parameters of attitude angle peak value, attitude angle change rate, mooring rope maximum tension and mooring rope tension change rate from sample data; model training, namely taking the extracted characteristic parameters as input, taking a safety state label as output, and inputting the safety state label into a BP neural network model for training to obtain a dynamic early warning threshold model; And outputting the threshold value, namely inputting the real-time marine environment load data into a trained dynamic early warning threshold model, and outputting an attitude angle early warning threshold value theta th 、φ th 、ψ th and a mooring rope tension early warning threshold value F th under the corresponding environments.
6. The floating wind power platform attitude monitoring and early warning control system according to claim 5, wherein the abnormality judgment logic of the central processing module is: Comparing the calculated real-time attitude angles theta, phi and phi with corresponding dynamic early warning thresholds theta th 、φ th 、ψ th respectively, and simultaneously comparing the real-time maximum tension F max of the mooring rope with a tension early warning threshold F th ; if the absolute value of theta is less than or equal to theta th 、|φ|≤φ th 、|ψ|≤ψ th and F max ≤F th is met, judging that the posture of the platform is normal; if one or more items of the platform gesture detection signals exceed the corresponding pre-warning threshold values, judging that the platform gesture is abnormal, and classifying pre-warning grades according to the degree of the super-threshold values, namely, light pre-warning, medium pre-warning and heavy pre-warning.
7. The floating wind power platform attitude monitoring and early warning control system according to claim 1, wherein the early warning module comprises an acousto-optic early warning unit, a remote communication early warning unit and a local display unit; When a mild early warning instruction is received, the acousto-optic early warning unit sends out yellow early warning light and low-frequency early warning sound, the local display unit displays early warning information, and the remote communication early warning unit sends the early warning information to the shore-based monitoring center; When a moderate early warning instruction is received, the acousto-optic early warning unit sends out orange early warning light and medium-frequency early warning sound, the local display unit displays early warning information and preliminary regulation and control advice, and the remote communication early warning unit sends the early warning information and real-time monitoring data to the shore-based monitoring center; When a severe early warning instruction is received, the acousto-optic early warning unit emits red early warning light and high-frequency early warning sound, the local display unit displays early warning information and an emergency regulation scheme, and the remote communication early warning unit sends the early warning information, the real-time monitoring data and the emergency regulation scheme to the shore-based monitoring center and triggers the shore-based warning device.
8. The attitude monitoring and early warning control system of a floating wind power platform according to claim 1, wherein the regulation and control execution module comprises an execution mechanism controller and a corresponding execution mechanism, and the execution mechanism comprises an active stabilizer at the bottom of the platform, a tension adjusting device of a mooring rope and a variable pitch adjusting device of a fan; After receiving the gesture regulation instruction sent by the central processing module, the executing mechanism controller drives the corresponding executing mechanism to act according to the early warning level: during light early warning, driving the active stabilizer to adjust a small-amplitude angle; During moderate early warning, on the basis of driving the active stabilizer to adjust, a tension adjusting device of the mooring ropes is driven to act, and tension distribution of each mooring rope is adjusted; during severe early warning, on the basis of the regulation and control actions, the variable pitch adjusting device of the fan is driven to act, the windward area of the fan is reduced, if the posture still cannot be corrected, a shutdown instruction is sent, and the fan is controlled to stop running.
9. The floating wind power platform attitude monitoring and early warning control system according to claim 1, wherein the power module adopts a mode of combining solar photovoltaic power supply and standby lithium battery power supply, and comprises a solar panel, a charge-discharge controller, a lithium battery pack and a DC-DC converter; The solar panel converts solar energy into electric energy, the lithium battery pack is charged through the charge-discharge controller and simultaneously supplies power to each module of the system, when illumination is insufficient or at night, the lithium battery pack supplies power to each module of the system through the charge-discharge controller, and the DC-DC converter is used for converting output voltage into rated voltage required by each module of the system.

Description

Floating type wind power platform attitude monitoring and early warning control system Technical Field The invention relates to the technical field of offshore wind power equipment monitoring, in particular to a floating wind power platform attitude monitoring and early warning control system. Background With the acceleration of global energy structure transformation process, offshore wind power is taken as an important component of clean renewable energy, and the development scale of the offshore wind power is continuously enlarged. Compared with a fixed offshore wind power platform, the floating wind power platform can be suitable for deeper sea areas, expands the development range of offshore wind power and has wide application prospect. However, the floating wind power platform is in a complex marine environment for a long time, is subjected to the coupling action of various loads such as stormy waves, ocean currents, tides and the like, and is easy to generate multi-degree-of-freedom attitude movements such as rolling, pitching, heaving, yawing and the like. Excessive change of the attitude of the platform can have serious influence on normal operation of wind power equipment, on one hand, the fan blade and the tower can collide to damage the blade and the tower structure, and on the other hand, fatigue damage of a platform mooring system can be aggravated, the mooring reliability is reduced, and even serious safety accidents such as platform overturning and the like are caused. Therefore, the method monitors the posture of the floating wind power platform accurately in real time, gives early warning and takes regulation measures aiming at abnormal postures in time, and is a key for guaranteeing safe and stable operation of the floating wind power platform. In the prior art, a single type of sensor is adopted for data acquisition aiming at the posture monitoring scheme of the floating wind power platform, and if only a gyroscope or an accelerometer is used, the problems of low monitoring precision and weak anti-interference capability exist. Meanwhile, the existing early warning system carries out early warning judgment based on a fixed threshold value, dynamic change characteristics of ocean environment load are not fully considered, and therefore early warning accuracy is poor and false alarm rate is high. In addition, most of the existing systems only have monitoring and early warning functions, lack of linkage with a platform regulation and control executing mechanism, cannot actively correct the posture of the platform in time after early warning, and are difficult to fundamentally avoid safety risks. Based on the defects of the prior art, the invention provides a floating wind power platform attitude monitoring and early warning control system capable of realizing high-precision attitude monitoring, dynamic intelligent early warning and linkage regulation. Disclosure of Invention Aiming at the problems of low attitude monitoring precision, poor early warning accuracy and lack of linkage regulation and control capability of a floating wind power platform in the prior art, the invention provides the attitude monitoring and early warning control system for the floating wind power platform, which realizes high-precision real-time monitoring, dynamic intelligent early warning and active linkage regulation and control of the attitude of the platform and ensures safe and stable operation of the platform. In order to achieve the above purpose, the invention adopts the following technical scheme: a floating wind power platform attitude monitoring and early warning control system comprises an attitude sensing module, a data preprocessing module, a central processing module, an early warning module, a regulation and control execution module and a power module; the attitude sensing module is used for acquiring attitude data of the floating wind power platform, ocean environment load data and mooring system stress data and transmitting the acquired data to the data preprocessing module; The data preprocessing module is used for denoising, filtering, data synchronization and format conversion processing of the collected original data to obtain standardized effective data, and transmitting the effective data to the central processing module; the central processing module is used for calculating real-time attitude parameters of the platform through a preset attitude resolving algorithm based on standardized effective data, judging whether the attitude of the platform is abnormal or not by combining with a dynamic early warning threshold model, generating an early warning instruction and a corresponding attitude regulation instruction if the attitude is abnormal, and transmitting the early warning instruction and the corresponding attitude regulation instruction to the early warning module and the regulation execution module respectively; The early warning module is used for receiving the early warning instructio