CN223498038U - Air mooring system - Google Patents

Abstract

The disclosure relates to an aerial mooring system, which comprises a rotor, a main shaft and a driving unit, wherein the rotor is provided with buoyancy, the buoyancy can balance the dead weight of the system, the rotor can rotate around the main shaft freely under the stress, two ends of the main shaft are symmetrically connected to a high-altitude acting module, the driving unit is used for adjusting the rotating speed and/or steering of the rotor, and the total balance weights of the rotor and the driving unit are symmetrically distributed on the main shaft. The scheme takes the magnus effect as the principle, any required lifting force can be obtained by adjusting the rotating speed and/or the steering of the rotor, the lifting force, the lift-drag ratio and the traction angle of the air mooring system can be flexibly controlled, and the air mooring system is not limited by the altitude. Compared with the traditional mooring system such as helium balloon, the lift-drag ratio is prevented from being reduced due to the increase of the altitude or the increase of the wind speed, and the traction angle is prevented from being uncontrollable.

Description

Air mooring system

Technical Field

The disclosure relates to the technical field of high altitude wind energy utilization, in particular to an air mooring system.

Background

The high-altitude wind energy contains huge energy, and compared with the conventional wind energy power generation, the high-altitude wind energy is utilized to do work so as to obtain the electric energy with higher stability and lower cost. The acting sail/acting umbrella is a common air acting system utilizing high altitude wind energy, and a mooring system is usually required to be used as a lifting force guide body in the use process, and the lifting force guide body is unfolded after being brought to the required air altitude. The setting of the mooring system is critical to the stable lift-off and continuous work of the air work system.

CN101852178a discloses a high-power umbrella type wind power generation system, wherein a kite or helium balloon is used as a mooring system to lift the balance umbrella and the acting umbrella groups to a proper height, and then each acting umbrella group is unfolded into the wind to do work or exert corresponding use. CN111114737a discloses a hybrid lift high altitude mooring system comprising an aerostat, lift wings, mooring lines and mooring line retraction devices fixed to the ground. In addition, there are also prior art systems employing multiple rotor unmanned aerial vehicles as tethered systems that provide lift.

Among the mooring systems described above and similar, mooring systems such as kites and airships are generally rarely used due to the great difficulty of flight control, while unmanned aerial vehicles have limited lift and poor cruising ability, and are generally only used in small and short-duration floating applications. The helium balloon has the advantages of simple structure, easy control and the like, so that more tethered systems are actually used, but the lift-drag ratio of the helium balloon is uncontrollable, particularly, the lift force is reduced along with the rise of altitude, the wind resistance is increased along with the increase of wind speed, the pitching angle of an aerial working system relative to the ground is very easy to pull down in practical application, and the safety of working and the output of working power are both very unfavorable.

Disclosure of utility model

It is an object of the present disclosure to provide an air mooring system with a controllable lift to drag ratio.

In order to achieve the above purpose, the present disclosure adopts the following technical scheme:

An aerial mooring system comprises a rotor, a main shaft and a driving unit;

The rotor is provided with buoyancy, the buoyancy can balance the dead weight of the system, and the rotor can rotate freely around the main shaft under the force;

The two ends of the main shaft are symmetrically connected to the high-altitude acting module, and the driving unit is used for adjusting the rotating speed and/or steering of the rotor;

the total weight of the rotor and the drive unit is symmetrically distributed on the main shaft.

Preferably, two ends of the main shaft are symmetrically connected to the high-altitude acting module in a Y shape through traction ropes.

Preferably, the driving unit comprises a main driving motor, an energy storage module and a power generation module;

The power generation module is used for converting wind energy into electric energy, the energy storage module is used for storing the electric energy and supplying power for the main driving motor, and the main driving motor is used for adjusting the rotating speed and/or steering of the rotor.

More preferably, the power generation module comprises at least one first fan and at least one second fan which are respectively arranged at two sides of the rotor, the first fan and the second fan are respectively connected with a power generation motor, and the power generation motor is connected with the energy storage module.

More preferably, the first fan and the second fan are darrieus type fans;

the fins of the first fan and the second fan are of symmetrical or asymmetrical arc structures, and the number of the fins is not more than 5.

More preferably, the darrieus blower comprises two driving wheels capable of rotating freely relative to the main shaft, the driving wheels are respectively connected with the wing pieces through driving support arms, and the driving support arms can rotate freely relative to the wing pieces.

Preferably, pitch angles of the fins of the first fan and the second fan are fixedly set.

More preferably, at least one of the first fan and the second fan is provided with an adjustment mechanism for adjusting the pitch angle of the fins.

Preferably, one of the two driving wheels is provided with a first limiting chute, the side part of the driving wheel is provided with an eccentric cam fixedly mounted on the main shaft, and the eccentric cam is provided with a second limiting chute;

The two ends of the traveling pin are respectively limited in the first limiting chute and the second limiting chute to move, the traveling pin is connected to the wing panel positioned on the same side of the traveling pin through a driven support arm, and the driven support arm can freely rotate relative to the wing panel and the traveling pin.

More preferably, the direction of the eccentric cam is adjustable.

The technical scheme claimed by the disclosure mainly achieves the following beneficial effects:

1) Based on the magnus effect, any required lifting force can be obtained by adjusting the rotating speed and/or the steering of the rotor, the lifting force, the lift-drag ratio and the traction angle of the air mooring system can be flexibly controlled, and the air mooring system is not limited by elevation. Compared with the traditional mooring system such as helium balloon, the lift-drag ratio is prevented from being reduced due to the increase of altitude or along with the increase of wind speed, and the traction angle is prevented from being uncontrollable.

2) The Darling fan has high power generation conversion efficiency, and can continuously provide required power for the rotor and other electric equipment of the mooring system. And the pitch angle of the wing panel of the darrieus fan can be adjusted according to the change of the actual high-altitude environment, so that the optimal attack angle of the wind can be kept, and the maximum power generation efficiency is exerted.

4) The mooring system can generate preset deflection by respectively adjusting the pitch angles of the Darling fan wings at two sides of the rotor, and when the adjustment of the pitch angles of the fan wings and the adjustment of the steering/rotating speed of the rotor are combined, the mooring system can further synchronously realize the position transfer in the horizontal and vertical directions within a certain space range, thereby being beneficial to the situations of space obstacle avoidance or space maneuver and the like. Compared with mooring schemes such as helium balls, the system not only can flexibly realize space maneuver, but also has simple control method, larger control range and more outstanding maneuvering capability.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings required for the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only embodiments of the present disclosure, and other drawings may be obtained according to the provided drawings without inventive effort for a person skilled in the art.

Fig. 1a is a schematic perspective view of the overall structure of an aerial mooring system.

Fig. 1b is a schematic plan view of the overall structure of the aerial mooring system.

Fig. 2 is a schematic view of the magnus effect.

Fig. 3 is a schematic drawing of the air mooring system adjusting the traction angle of the high altitude power module.

Fig. 4a is a schematic view of symmetrical fins of a darrieus fan.

Fig. 4b is a schematic view of an asymmetric airfoil of a darrieus blower.

Fig. 5 is a schematic view of a darrieus fan with a fixed fin pitch angle (4 fins).

Fig. 6 is a schematic view of a darrieus fan with variable fin pitch angle (4 fins).

Fig. 7 is a schematic view showing the direction of force applied to the darrieus fan by adjusting the angle of the eccentric cam.

Fig. 8 is a schematic diagram of an aerial mooring system adjustment spatial orientation.

Reference numerals:

100-rotor, 101-main driving motor, 200-first fan, 201-first generator motor, 210-second fan, 211-second generator motor, 300-main shaft, 400-first tether support arm, 410-second tether support arm, 500-haulage rope, 600-energy storage module, 700-driving wheel, 701-driving support arm, 711-first limit chute, 800-eccentric cam, 801-second limit chute, 900-walking pin and 901-driven support arm.

Detailed Description

For the purpose of making the objects, technical solutions and advantageous effects of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present disclosure, and it is apparent that the described embodiments are some embodiments of the present disclosure, but not all embodiments. Based on the embodiments in this disclosure, all other embodiments that a person of ordinary skill in the art would obtain without making any inventive effort are within the scope of protection of this disclosure.

The overall structure of the air mooring system provided in this embodiment is shown in fig. 1, and includes a rotor 100, a main shaft 300 and a driving unit. Rotor 100 is self-contained with buoyancy that balances the overall system's dead weight, and rotor 100 is free to rotate about main shaft 300 under force. The main shaft 300 is symmetrically connected at both ends to an overhead working module (e.g. a working rope), and the driving unit is used to adjust the rotation speed and/or steering of the rotor 100, and the total weight of the rotor 100 and the driving unit is symmetrically distributed on the main shaft 100.

The rotor 100 in the present embodiment is a magnus-effect rotor. Illustratively, the rotor 100 is provided as a sealed cylinder (or other suitable shape), and its surface is made of a light-weight, high-strength, radiation-resistant floating air ball material or other material meeting the requirements, and a high-strength, light-weight skeleton such as carbon fiber can be installed inside the rotor for maintaining a certain rigidity. The hollow portion of the rotor 100 is filled with helium or helium-hydrogen mixture for maintaining a certain self-floating capacity of the rotor 100, and thus the self weight of the entire system can be substantially balanced. The rotor 100 is mounted on the main shaft 300 through a bearing, and the cylindrical rotor 100 can be bidirectionally freely rotated around the main shaft 100 under the driving of the driving unit.

Fig. 2 shows the principle of action of a magnus effect rotor. According to the Coulter-Confucius lift formula, when the fluid with incoming flow speed v _∞ flows around the cylinder, the lift force L of the fluid acting on the rotating cylinder with length b is the product of the fluid density ρ, incoming flow speed v _∞ and speed circulation Γ, namely

L= - ρv _∞ Γb equation (1)

Wherein the direction of the lift force is determined by the forward incoming flow velocity vector v _∞ rotated 90 deg. in the direction of the reverse circulation. The cylindrical rotor shown in fig. 2 receives lift force vertically upward in the incoming flow direction, and if the cylindrical rotor is reversed, the lift force is received vertically downward in the incoming flow direction. Therefore, according to the real-time air density and the air flow velocity, the rotating speed and the rotating direction of the cylinder are adjusted, so that any target lifting force can be obtained. Meanwhile, the resistance contribution of the detour to the cylinder is 0, so that the target lift-drag ratio can be obtained by controlling the rotating speed of the cylinder.

In a preferred embodiment, the driving unit in the present embodiment includes a main driving motor 101, an energy storage module 600 and a power generation module, the power generation module is used for converting wind energy into electric energy, the energy storage module 600 stores the electric energy and supplies power to the main driving motor 101, and the main driving motor 101 is used for adjusting the rotation speed and/or steering direction of the rotor 100. Illustratively, the power generation module includes at least one first fan 200 and at least one second fan 210 respectively disposed at both ends of the rotor 100, the first fan 200 and the second fan 210 being connected to a first power generation motor 201 and a second power generation motor 211, respectively, the first power generation motor 201 and the second power generation motor 211 being connected to an energy storage module 600.

In the present embodiment, the rotor 100, the main driving motor 101, the first fan 200, the first generator motor 201, the second fan 210, the second generator motor 211, the energy storage module 600, and the like are symmetrically mounted on the main shaft 300 according to weights, that is, the weight of both ends is symmetrically distributed with respect to the center point of the main shaft 300. In a preferred embodiment, the two ends of the main shaft 300 are respectively provided with a first tether arm 400 and a second tether arm 410, and the ends of the first tether arm 400 and the second tether arm 410 are respectively used for tying the traction rope 500. The traction rope 500 is symmetrically fixed on the first tether support arm 400 and the second tether support arm 410 in a Y shape, the tail ends of the traction rope are used for traction of the aerial work assembly, and the main shaft 300 cannot rotate along with the rotor 100 under the action of the traction rope 500.

In a preferred embodiment, the first fan 200 and the second fan 210 are Darlich fans. The Darli type fan has H type, phi type, triangle type and other types. The Darling fan has simple structure, the vertical design is insensitive to the change of wind direction, and the change of wind direction can be well self-adapted. Meanwhile, the wind energy conversion efficiency of the Darling fan is higher, and when the tip speed ratio reaches about 4, the power coefficient of the Darling fan with the fixed blades can reach 0.4 or even higher. However, the staring performance of the darrieus fan is relatively poor, and the autorotation is difficult to be realized by virtue of lifting force under the condition that the tip speed ratio is below 3, so that the tip speed ratio is required to reach the starting rotating speed by external force driving to maintain the autorotation. The embodiment does not limit the type of the Darling fan, but is preferably an H-shaped fan, the wing section angle of the H-shaped fan can be changed through a variable pitch design, and certain speed ratio lifting and maneuvering control can be realized.

In this embodiment, the first generator motor 201 can obtain electric energy from the energy storage module 600 to drive the first fan, i.e. the first darrieus fan, to reach a starting rotation speed, when the first darrieus fan realizes stable rotation under the action of lift force, the first generator motor 201 is switched to a generating mode, and the rotational kinetic energy of the first darrieus fan is converted into electric energy to be stored in the energy storage module 600, so as to continuously supply power to the main driving motor 100 and other electric devices of the system. Similarly, the second generator motor 211 obtains electric energy from the energy storage module 600 to drive the second fan, i.e. the second darrieus fan, to reach a starting rotation speed, when the second darrieus fan realizes stable rotation under the action of lift force, the second generator motor 211 is switched to a power generation mode, the rotational kinetic energy of the second darrieus fan is converted into electric energy to be stored in the energy storage module 600, and each electric device (necessary monitoring module such as a GPS, an altitude sensor, a wind speed sensor, a communication module and the like) of the system is continuously powered, so that self-sufficiency of the energy consumption of the system is realized.

In this embodiment, since the weight of the entire mooring system is evenly distributed along the mast 300, the mast 300 will always remain substantially horizontal to the ground and perpendicular to the direction of the air flow under high altitude wind. In the initial stage of the ascent, the rotor 100 is filled with helium or helium-hydrogen mixed gas, so that the system can be driven to float and ascend to a certain height and automatically align with the wind direction. According to the formula (1), when the incoming wind speed increases or the rotor speed is increased, the lift force can be increased. Therefore, according to the preset lift force requirement and traction angle requirement, the system controls the main driving motor 101 to adjust the rotation speed or the rotation direction of the rotor 100 in real time based on the wind speed, the altitude and the GPS data monitored in real time, so that the preset target lift force or lift-drag ratio and traction angle can be achieved, and the traction rope 500 is guided to drag the air working module to a preset altitude and space position.

In the umbrella ladder combined type high altitude wind power generation system shown in fig. 3, lifting force and increase of the traction angle alpha can be achieved by lifting the clockwise rotation speed of the rotor 100, and lowering of the lifting force and lowering of the traction angle alpha can be achieved by stopping or reversing of the rotor 100. In other similar applications, on-demand control of lift and draft angles can be similarly achieved by the solution of the present embodiment.

In a preferred embodiment, in order to enhance the power generation efficiency of the first fan 200 and the second fan 210 as much as possible and optimize the weight and the size structure thereof, a suitable fan airfoil may be selected according to different use situations, which is not limited. Fig. 4 shows two preferred airfoils, of which the NACA0018 airfoil shown in fig. 4a is a more aerodynamic profile in a common symmetrical airfoil. Fig. 4b shows a NACA4418 airfoil, which exhibits a superior dynamic behavior, such as shock resistance, compared to a symmetrical airfoil. According to the requirements, partial shape optimization design can be carried out on the wing profile so as to realize higher tip speed ratio and power generation efficiency. The number of the fins of the first fan 200 and the second fan 210 is preferably 3-4, and at most, the number of the fins is not more than 5, and the number of the fins is not more than 5, so that the power generation efficiency is not improved. The fins must be evenly distributed around the circumference of the fan rotation to ensure that the center of gravity of the fan is located on the axis of the main shaft 300.

In this embodiment, the first fan 200 and the second fan 210 may be of a fixed airfoil pitch type design, as shown in FIG. 5. The wing panel with the simple structural design and installation can generate lift force when the attack angle is 0-15 degrees for the wing panel design of most common wing panels, and particularly, can generate larger lift force and has smaller resistance when the attack angle is 8-13 degrees. The darrieus fan with fixed fin pitch angle is suitable for airspace with relatively stable wind speed, so that stable attack angle can be well maintained to drive a motor to generate power. When the wind speed changes greatly, the rotation speed must be adjusted by the real-time cooperation of the first generator motor 201 and the second generator motor 211, so that the fan is prevented from stalling due to the sudden drop of the tip speed ratio when the fan is suddenly subjected to a large wind force.

In a more preferred embodiment, the first fan 200 and the second fan 210 may be designed with a periodically variable fin pitch angle so as to maximize power generation efficiency. Such a configuration may be used, for example, by way of a cam follower or eccentric to periodically adjust the angle of attack of the airfoil, without limitation. In an exemplary configuration, fig. 6 shows a design that uses an eccentric cam 800 and a driven arm 901 to achieve periodic changes in pitch angle of the airfoil, which configuration enables adjustment of pitch angle by mechanical structure alone, simple structure, no additional electromechanical control, and lower start-up rotational speed.

Specifically, as shown in fig. 6, the darrieus blower includes two driving wheels 700 capable of rotating freely with respect to the main shaft 300, the driving wheels 700 are respectively connected to the wing pieces through driving arms 701, and the driving arms 701 are capable of rotating freely with respect to the mounting shafts on the wing pieces. One of the driving wheels 700 is provided with a first limit chute 711, and is provided at a side thereof with an eccentric cam 800 fixedly mounted to the main shaft 300, and the eccentric cam 800 is provided with a second limit chute 801. Both ends of the traveling pin 900 are respectively limited to the first limit chute 711 and the second limit chute 801 to move, the traveling pin 900 is connected to the side surface of the corresponding wing by the driven arm 901, and the driven arm 901 can freely rotate relative to the mounting shaft on the wing and the traveling pin 900.

When the wing sheets are winded to generate lifting force, the driving arm 701 drives the driving wheel 700 to rotate, and then drives the generator motor to generate electricity. The eccentric cam 800 is fixed to the main shaft 300, and thus does not rotate with the driving wheel 700. The travel of the traveling pin 900 is controlled by both the first limit runner 711 on the driving wheel 700 and the second limit runner 801 on the eccentric cam 800, which may be exemplarily provided as an annular runner. When the driven support arm 901 follows the wing panel to rotate, the driven support arm 901 can drive the wing panel to rotate relatively around the installation shaft of the driving support arm 701 on the wing panel periodically within a preset angle range due to the limitation of the first limiting chute 711 and the second limiting chute 801, so that the adjustment of the pitching angle of the wing panel is realized, the optimal windward attack angle is obtained, and the lower starting rotating speed and the larger wind energy conversion efficiency are obtained.

In a more preferred embodiment, the fin pitch angles of the first and second fans 200 and 210 may also be asymmetrically adjusted, and the horizontal equilibrium state of the air mooring system will be broken under the active action of, for example, a motor. Under the further action of wind force, the mooring system will deflect in advance, so that the maneuvering control of the space position of the air mooring system is realized, and the space obstacle avoidance or space maneuvering and other situations are facilitated. In this case, the pitch angle of the fins of the fan can be precisely adjusted by the micro motor, or can be mechanically adjusted, and is not particularly limited.

In a preferred embodiment, the eccentric cam 800 is preferably fixedly mounted to the main shaft 300 in an angle-adjustable manner, and the control of the eccentric cam can be achieved by, for example, a micro motor, etc., and the specific manner is not limited. Fig. 7 illustrates that the direction of force applied to the darrieus type fan is changed when the angle of the eccentric cam is actively adjusted, and the direction of the eccentric cam 800 is adjusted by 180 degrees, and the direction of force applied to the fan is changed by 180 degrees although the rotation direction of the wing is not changed.

In another exemplary embodiment, the eccentric cam of the first darrieus fan and the eccentric cam of the second darrieus fan are adjusted to opposite directions, and then the darrieus fan is driven to actively rotate by the first generator motor 201 and the second generator motor 211, so that the horizontal deflection of the mooring system can be achieved. Under the effect of the air force, the system will reach an equilibrium state again. If overlooked from the air, the mooring system will deflect horizontally at an angle relative to the ground base, thereby effecting motorised control of the change in air position. The deflection effect is shown in fig. 8. It is apparent that the yaw angle is related to wind speed and generator motor drive speed.

On the basis of the adjustment of the deflection in the horizontal direction, as shown in fig. 3, if the rotational speed and/or the rotational direction of the rotor 100 are adjusted synchronously, the mooring system can also achieve a motorized adjustment in the vertical direction at the same time, i.e. the mooring system will be able to achieve a shift of position in both the horizontal and vertical directions synchronously within a certain spatial range. Compared with the traditional mooring schemes such as a helium balloon mooring system, the mooring system in the embodiment not only can flexibly realize space maneuver, but also has the advantages of simple control method, larger control range and more outstanding maneuverability.

The above embodiments are merely exemplary descriptions of the present disclosure, and are not intended to limit the scope of the disclosure, and various modifications and improvements made by those skilled in the art to the technical solutions of the present disclosure should fall within the protection scope determined by the present disclosure without departing from the design spirit of the present disclosure.

Claims (10)

1. An aerial mooring system comprising a rotor, a main shaft and a drive unit;

The rotor is provided with buoyancy, the buoyancy can balance the dead weight of the system, and the rotor can rotate freely around the main shaft under the force;

The two ends of the main shaft are symmetrically connected to the high-altitude acting module, and the driving unit is used for adjusting the rotating speed and/or steering of the rotor;

the total weight of the rotor and the drive unit is symmetrically distributed on the main shaft.

2. The air mooring system according to claim 1 wherein both ends of the main shaft are symmetrically connected to the high altitude power module in a Y-shape by means of a haulage rope.

3. The aerial mooring system of claim 1, wherein the drive unit comprises a main drive motor, an energy storage module, and a power generation module;

The power generation module is used for converting wind energy into electric energy, the energy storage module is used for storing the electric energy and supplying power for the main driving motor, and the main driving motor is used for adjusting the rotating speed and/or steering of the rotor.

4. The air mooring system of claim 3 wherein the power generation module comprises at least one first fan and at least one second fan disposed on either side of the rotor, the first fan and the second fan being connected to a power generation motor, respectively, the power generation motor being connected to the energy storage module.

5. The air mooring system of claim 4 wherein the first fan and the second fan are darrieus fans;

the fins of the first fan and the second fan are of symmetrical or asymmetrical arc structures, and the number of the fins is not more than 5.

6. The air mooring system according to claim 5 wherein the darrieus blower comprises two drive wheels capable of rotating freely relative to the main shaft, the drive wheels being connected to the wing by drive arms, respectively, the drive arms being capable of rotating freely relative to the wing.

7. The aerial mooring system of claim 6, wherein pitch angles of the fins of the first and second fans are fixedly disposed.

8. The air mooring system according to claim 6 wherein at least one of the first and second fans is provided with an adjustment mechanism for adjusting the pitch angle of the fins.

9. The aerial mooring system of claim 8 wherein one of the drive wheels is provided with a first limit chute and an eccentric cam fixedly mounted to the main shaft is provided on a side portion thereof, the eccentric cam being provided with a second limit chute;

The two ends of the traveling pin are respectively limited in the first limiting chute and the second limiting chute to move, the traveling pin is connected to the wing panel positioned on the same side of the traveling pin through a driven support arm, and the driven support arm can freely rotate relative to the wing panel and the traveling pin.

10. The aerial mooring system of claim 9, wherein the direction of the eccentric cam is adjustable.