METHOD FOR CONTROLLING THE OPERATION OF A SUBMERSIBLE POWER PLANT

Abstract

The invention relates to a method for controlling the operation of a submersible power plant (1) and a submersible power plant (1). The submersible power plant (1) comprises a structure (2) and a vehicle (3). The vehicle (3) comprises at least one wing (4). The vehicle (3) is arranged to be secured to the structure (2) by means of at least one tether (5). The vehicle (3) is arranged to move in a predetermined trajectory by means of a fluid stream passing the vehicle (3). The vehicle (3) is arranged to change the angle of attack of the at least one wing (4). The method comprises: I: determining if the speed of the fluid passing the vehicle (3) is higher than a predetermined value; or II: determining if the speed of the fluid passing the vehicle (3) is lower than the predetermined value. The vehicle (3) changes the angle of attack for different situations depending on if the speed is higher or lower than the predetermined trajectory.

Claims

1. Method for controlling the operation of a submersible power plant (1), the submersible power plant (1) comprising a structure (2) and a vehicle (3), the vehicle (3) comprising at least one wing (4), the vehicle (3) being arranged to be secured to the structure (2) by means of at least one tether (5); the vehicle (3) being arranged to move in a predetermined trajectory by means of a fluid stream passing the vehicle (3), characterized in that the vehicle (3) being arranged to change the angle of attack of the at least one wing (4), wherein the method comprises: I: determining if the speed of the fluid passing the vehicle (3) is higher than a predetermined value, if the speed of the fluid passing the vehicle (3) is higher than the predetermined value, Ia: starting the vehicle (3) by adjusting the angle of attack of the at least one wing (4) to reach operation depth of the vehicle (3), and initiate movement of the vehicle (3) in a predetermined trajectory starting power generation, or; Ib: controlling the speed of the vehicle (3) during power generation by adjusting the angle of attack of the at least one wing (4) to optimize power output, or; Ic: stopping the vehicle (3) by adjusting the angle of attack of the at least one wing (4) such that the lift exerted on the wing (4) by the fluid passing the vehicle (3) is essentially zero or; II: determining if the speed of the fluid passing the vehicle (3) is lower than the predetermined value, if the speed of the fluid passing the vehicle (3) is lower than the predetermined value, IIa: adjusting the angle of attack of the at least one wing (4) to move to and/or keep the vehicle (3) in a position that enables the vehicle (3) to start when the speed of the fluid passing the vehicle (3) is determined to be higher than the predetermined value.

2. Method according to claim 1, wherein, if the speed of the fluid passing the vehicle (3) is higher than the predetermined value and the vehicle (3) is moving in a predetermined trajectory, the method comprises: III: determining if the vehicle (3) is in danger of colliding with an object traversing the predetermined trajectory, if the vehicle (3) is determined to be in danger of colliding with an object traversing the predetermined trajectory, IIIa: stopping the vehicle (3) by adjusting the angle of attack of the at least one wing (4) such that the lift exerted by the fluid passing the vehicle (3) is essentially zero, IIIb: determining that the object traversing the predetermined trajectory has left the predetermined trajectory, IIIc: upon determining that the object traversing the predetermined trajectory has left the predetermined trajectory, adjust the angle of attack of the at least one wing (4) to initiate movement of the vehicle (3) in the predetermined trajectory starting power generation.

3. Method according to claim 1 or 2, wherein, if the speed of the fluid passing the vehicle (3) is higher than the predetermined value, the method comprises: IV: determining if the vehicle (3) has lost power, if the vehicle (3) has lost power, IVa: stopping the vehicle (3) by adjusting the angle of attack of the at least one wing (4) such that the lift exerted by the fluid passing the vehicle (3) is essentially zero, IVb: determining that power has been restored to the vehicle (3), IVc: upon determining that power has been restored to the vehicle (3), adjust the angle of attack of the at least wing (4) to initiate movement of the vehicle (3) in the predetermined trajectory starting power generation.

4. Method according to any one of the preceding claims, wherein, when controlling the speed of the vehicle (3) during power generation, the tether load is controlled by adjusting the angle of attack of the at least one wing (4).

5. Method according to any one of the preceding claims, wherein the angle of attack of the vehicle (3) is changed by means of a pitch control system (11) being arranged to extend or retract a rear strut (7) of the vehicle (3), wherein the pitch control system (11) is attached to the rear strut (7), which in turn is attached to the tether (5).

6. Method according to any one claims 1-3, wherein the angle of attack of the vehicle (3) is changed by means of a pitch control system (11) being arranged to change the attachment position of the strut along the length of a nacelle (8) attached to the wing (4) or the length of the wing (4).

7. Method according to any one of claims 1-3, wherein the angle of attack of the vehicle (3) is changed by means of a pitch control system (11), wherein the pitch control system (11) comprises an elevator.

8. Submersible power plant (1), comprising a structure (2) and a vehicle (3), the vehicle (3) comprising at least one wing (4), the vehicle (3) being arranged to be secured to the structure (2) by means of at least one tether (5); the vehicle (3) being arranged to move in a predetermined trajectory by means of a fluid stream passing the vehicle (3), the power plant (1) further comprising a control unit and at least one sensor unit, characterized in that the vehicle (3) is arranged to change the angle of attack of the at least one wing (4), the angle of attack of the at least one wing (4) is arranged to be changed by the control unit upon inputs from the at least one sensor unit, wherein the control unit is arranged to determine if the speed of the fluid passing the vehicle (3) is higher or lower than a predetermined value based on inputs from the at least one sensor unit.

9. Submersible power plant (1) according to claim 8, wherein the angle of attack of the vehicle (3) is changed by means of a pitch control system (11) being arranged to extend or retract a rear strut (7) of the vehicle (3), wherein the pitch control system (11) is attached to the rear strut (7), which in turn is attached to the tether (5).

10. Submersible power plant (1) according to claim 8, wherein the vehicle (3) comprises a nacelle (8) comprising the pitch control system (11), the nacelle (8) being attached to the wing (4), wherein the rear strut (7) is arranged to be attached to the pitch control system (11) in the nacelle (8) such that the rear strut (7) can be extended and retracted by the pitch control system (11).

11. Submersible power plant (1) according to claim 8, wherein the pitch control system (11) is integrated in the wing (4), wherein the rear strut (7) is arranged to be attached to the pitch control system (11) in the wing (4) such that the rear strut (7) can be extended and retracted by the pitch control system (11).

12. Submersible power plant (1) according to any one of claims 8-10, wherein the rear strut (7) is attached to the pitch control system (11) by a pliable connection means (18).

13. Submersible power plant (1) according to claim 11, wherein the pliable connection means (18) is one of a rope, cable, cord, string or wire.

14. Submersible power plant (1) according to any one claims 8-12, wherein the rear strut (7) has a hydrodynamic cross-section.

15. Submersible power plant (1) according to any one of claims 8-13, wherein the pitch control system (11) comprises a clutch (17), transmission, motor (12) and brake.

16. Submersible power plant (1) according to any one of claims 8-14, wherein the pitch control system (11) comprises a spiral-shaped drum (15) for storing the pliable connection means (18) and a guide means (19) for guiding the pliable connection means (18) during extension and retraction of the pliable connection means (18).

17. Submersible power plant (1) according to claim 14 or 15, wherein the pitch control system (11) is powered in an operating state, such that the rear strut (7) automatically fully extends when power to the pitch control system (11) is lost.

18. Submersible plant according to claim 8, wherein the angle of attack of the vehicle (3) is changed by means of a pitch control system (11) being arranged to change the attachment position of the strut along the length of a nacelle (8) attached to the wing (4) or the length of the wing (4).

19. Submersible power plant according to claim 8, wherein the angle of attack of the vehicle (3) is changed by means of a pitch control system (11), wherein the pitch control system (11) comprises an elevator.

20. A computer-readable medium for use with a submersible power plant (1) having computer executable instructions for performing the method of claims 1-7.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0056] FIG. 1 schematically shows a perspective view of a submersible power plant according to the invention,

[0057] FIG. 2 schematically shows a side view of a submersible power plant according to the invention,

[0058] FIGS. 3a-3b schematically describes a pitch control system according to the invention,

[0059] FIGS. 4a-4d schematically describes a first example of an application of changing the angle of attack of the vehicle,

[0060] FIG. 5 schematically describes a second example of an application of changing the angle of attack of the vehicle,

[0061] FIGS. 6a-6b schematically describes a third example of an application of changing the angle of attack of the vehicle,

[0062] FIG. 7 schematically shows a fourth example of an application of changing the angle of attack of the vehicle.

DETAILED DESCRIPTION

[0063] FIG. 1 schematically describes a submersible power plant 1 according to the invention. The power plant 1 comprises a structure 2 and a vehicle 3. The vehicle 3 comprises at least one wing 4. The vehicle 3 is arranged to be secured to the structure 2 by means of at least one tether 5. The vehicle 3 is arranged to move in a predetermined trajectory by means of a fluid stream passing the vehicle 3. The vehicle 3 further comprises front struts 6 and a rear strut 7. The vehicle 3 may comprise a nacelle 8 which is attached to the wing 4. The nacelle 8 may be positioned below or above the wing 4 and is attached to the wing 4 by means of a pylon 9. The vehicle 3 further comprises control surfaces in the form of a vertical rudder 10. The front struts 6 are attached to the wing 4 and the rear strut 7 is attached to the nacelle 8.

[0064] FIG. 2 schematically shows a side view of a vehicle 3 of a submersible plant according to the invention. The nacelle 8 comprises a pitch control system (not shown) to which the rear strut 7 is attached. The rear strut 7 is connected to the pitch control system via a pliable connection means 18 such as a rope, cable, cord, string or wire. Alternatively, the pliable connection means 18 is the end of the rear strut 7 itself. The pliable connection means 18 enters the nacelle via an opening (not shown) in the nacelle 8. The length of the pliable connection means 18 in FIG. 2 is merely intended for illustrative purposes.

[0065] FIGS. 3a and 3b schematically describe a pitch control system 11 according to the invention. FIG. 3a is a cross section view of the nacelle 8 along line A-A of FIG. 2. The pitch control system 11 is preferably located in the rear half of the nacelle 8, the exact position of the pitch control system 11 is a design factor. In the figure, the pitch control system 11 is located off centre of a vertical centre line of the nacelle 8. The location of the pitch control system enables the opening in which the pliable connection means enters the nacelle 8, to be located at the bottom and along the longitudinal centre line of the nacelle. This enables the rear strut to be attached in along the longitudinal centre line of the nacelle. This ensures that the vehicle remains stable.

[0066] FIG. 3b schematically shows a section of the nacelle and pitch control system 11 taken along the line B-B of FIG. 3a. The pitch control system 11 comprises a motor 12, wherein the motor 12 also comprises a brake and a transmission 13 comprising at least one gear. A spiral-shaped drum 15 is attached to an axis 16 to which a clutch 17 is attached. The clutch 17 transfers power to the axis 16 when it is engaged with the transmission 13 and enables the drum 15 to disengage from the transmission, leading to that the drum 15 can spin freely when the angle of attack needs to be changed quickly. On the drum 15 a pliable connection means 18 is wound which in turn is connected to the rear strut 7. Alternatively, the end of the rear strut 7 comprises the pliable connection means 18. A guide means 19 aids in winding the pliable connection means 18 evenly on the drum 15. The motor 12 is controlled by means of a control system.

[0067] FIGS. 4a-7 all schematically show examples of applications of changing the angle of attack of a vehicle 3 of a submersible power plant 1. The arrows in the figures illustrate the direction of the tidal current. The depth at which the power plant is installed is merely an illustration and is not intended to be restrictive.

[0068] FIGS. 4a-4d schematically describes a first example of an application of changing the angle of attack of the vehicle 3. In FIG. 4a the vehicle 3 is situated at the surface. This situation occurs for example when the vehicle 3 is being put into use for the first time or is being put to use after service. The vehicle 3 is placed at the surface where it finds an upright, stable position, using the pitch control system, with the front of the vehicle 3 facing towards the current direction (indicated in the figures by arrows). With an upright, stable position is meant a position in which the vehicle 3 is oriented with the wing 3 above the nacelle 8. In an alternative configuration, an upright, stable position is a position in which the vehicle 3 is oriented with the wing 3 below the nacelle 8. The pitch control system is in the latter case preferably integrated in the wing 3.

[0069] In FIG. 4b the rear strut 7 is fully extended in order for the vehicle 3 to change the angle of attack of the wing 4 and start descending.

[0070] In FIG. 4c the vehicle 3 has descended to a desired depth. The lift of the wing 4 is essentially zero. The front struts 6 are able to rotate to a predetermined degree. The pitch control system controls the angle of attack which determines the depth to which the vehicle 3 will descend, enabling the vehicle 3 to start when the speed of the fluid passing the vehicle 3 is determined to be higher than the predetermined value.

[0071] In FIG. 4d the rear strut 7 is retracted and the angle of attack is changed in order for the vehicle 3 to start moving. As the vehicle 3 is facing towards the current direction the vehicle 3 will start moving upwards and can be steered into its predetermined trajectory.

[0072] FIG. 5 schematically describes a second example of an application of changing the angle of attack of the vehicle 3. In FIG. 5 the vehicle 3 is moving along its predetermined trajectory, producing power. The length of the rear strut 7 can be changed in order to change the angle of attack and thereby change the speed over the length of the predetermined trajectory. In first positions along the predetermined trajectory where the angle of attack is lower than an optimal angle of attack for the first position, the rear strut 7 is retracted. In second positions along the predetermined trajectory where the angle of attack is higher than an optimal angle of attack for the second positions, the rear strut 7 is extended.

[0073] FIGS. 6a-6b schematically describes a third example of an application of changing the angle of attack of the vehicle 3. In FIG. 6a the vehicle 3 is moving along its predetermined trajectory producing power. During power production it is determined that the vehicle 3 is in danger of colliding with an object traversing the predetermined trajectory or that the vehicle 3 has lost power.

[0074] In response to either of these situations the rear strut 7 is fully extended in order to change the angle of attack such that the lift exerted by the fluid passing the vehicle 3 is essentially zero, effectively stopping the vehicle 3 from continuing to move along the predetermined trajectory. This is shown in FIG. 6b. After the object is determined to be away from the predetermined trajectory or that power has been restored, the rear strut 7 is retracted as is described in conjunction with FIG. 4d.

[0075] FIG. 7 schematically shows a fourth example of an application of changing the angle of attack of the vehicle 3. In FIG. 6 it is determined that the speed of the fluid passing the wing 4 is less than a predetermined value. The lower speed is illustrated by the shorter arrows in the figure. Once this is determined the rear strut 7 completely extends and the vehicle 3 is kept at a certain depth by means of the pitch control. If necessary small changes in the angle of attack can be made in order for the vehicle 3 to change its depth such that it avoids deviating from a position that enables the vehicle 3 to start when the speed of the fluid passing the vehicle 3 is determined to be higher than the predetermined value.

[0076] In the above description the nacelle 8 is positioned below the wing 4 and the rear strut 7 is attached to the nacelle 8. It is also possible for the nacelle 8 to be positioned above the wing 4. In such case the rear strut 7 is connected either to the nacelle 8 or to a wing of the vehicle 3. In case the rear strut 7 is attached to the wing the pitch control system is located in the wing. Further, the angle of attack of the vehicle 3 in FIGS. 4a-7 is merely illustrative and is not intended to be restrictive.

[0077] Reference signs mentioned in the claims should not be seen as limiting the extent of the matter protected by the claims, and their sole function is to make the claims easier to understand.

[0078] As will be realised, the invention is capable of modification in various obvious respects, all without departing from the scope of the appended claims. Accordingly, the drawings and the description thereto are to be regarded as illustrative in nature, and not restrictive.