A floating wind power generation, energy storage and gyroscopic stabilization system and control method

Abstract

The present invention provides a floating wind power generation, energy storage, and gyroscopic stabilization system and control method. Based on the gyroscopic characteristics, the gyroscopic fixed axis, and the principle of object stability with low potential energy, and taking into account the need for energy storage, the system uses energy storage batteries as counterweights for the gyroscopic stabilization platform. This increases the mass of the gyroscopic stabilization platform, lowers the center of gravity of the floating wind power generation system, and improves the structural damping stability of the floating wind power generation system. The charging and discharging of the energy storage batteries also enhances the stability of the power grid. The relative displacement of the floating and semi-submersible buoys drives the reciprocating motion of the traction cable, driving the gyroscopic stabilization unit to generate rotational inertia. The system utilizes the flywheel principle to rapidly support the power grid, control the 360-degree pan / tilt platform, and three-dimensionally control the electric propeller, generating reverse thrust to suppress excessive water fluctuations.

Description

Technical Field

[0001] The present invention relates to the field of new energy power generation, and in particular to a floating wind power generation, energy storage and gyroscopic stabilization system and a control method. Background Art

[0002] Due to the limited wind power generation resources based on the seabed within 30 meters of the offshore water depth, the future offshore wind power generation will develop between 60 and 300 meters. From the perspective of economy, installation operation, module replacement manufacturing, and practicality, floating wind power generation is undoubtedly the future development direction.

[0003] Fluctuations in water bodies, such as the ocean, can lead to instability in wind turbine structure and power generation characteristics. Furthermore, the well-known uncertainty and instability of photovoltaic and wind power generation can also cause fluctuations in the power grid. This highlights three key issues: wind turbine structure, stable power generation characteristics, and energy storage.

[0004] Floating wind power generation is mainly faced with a certain degree of swing instability caused by the action of wind and waves. For example, the waves are affected by the horizontal and vertical motions. The superposition of the two motions and the wind force has a great impact on the reliability of the offshore wind power generation structure and the stability of power generation. Therefore, in order to suppress the vertical fluctuation of floating wind power generation, flexible shock absorption or inertial gravity can be used. The horizontal direction causes a certain tilt swing of floating wind power generation. Based on the characteristics of the gyroscope, when the gyro rotor rotates at high speed, when there is no external torque acting on the gyroscope, the direction of the gyroscope's rotation axis in the inertial space remains stable, that is, pointing to a fixed direction; at the same time, it resists any force that changes the rotor's axial direction. This physical phenomenon is called the gyroscope's fixed axis or stability. Its stability changes with the following physical quantities: (1) The larger the rotor's moment of inertia, the better the stability; (2) The larger the rotor's angular velocity, the better the stability. Based on the above characteristics, and considering the need for energy storage, the rotor's moment of inertia is increased and the structural center of gravity of the floating wind power generation is lowered by counterweighting the energy storage battery. On the one hand, improving rotor stability—increasing the damping of the wind turbine structure—ensures stability. On the other hand, energy storage improves grid stability, making floating wind turbine structure and power generation stability possible. Therefore, a floating wind turbine, energy storage, and gyroscopic stabilization system and control method are proposed. Summary of the Invention

[0005] In order to solve the above technical problems, the present invention proposes a floating wind power generation, energy storage and gyroscopic stabilization system and a control method.

[0006] A floating wind power generation, energy storage and gyroscopic stabilization system, characterized by comprising a wind tower, a buoy unit, a gyroscopic stabilization unit, an energy storage and power generation unit and a floating wind turbine positioning unit;

[0007] The wind tower is fixedly installed on the gyro stabilization unit, and the buoy units are evenly distributed with the gyro stabilization unit as the center; the energy storage power generation unit is installed in the gyro stabilization unit; and the floating wind turbine positioning unit is installed at the bottom of the gyro stabilization unit.

[0008] The buoy unit is composed of a plurality of semi-submersible buoys and a plurality of floating buoys. The semi-submersible buoys are cylindrical structures with a conical bottom structure, are evenly distributed with the gyro stabilization unit as the center, and are connected to the gyro stabilization unit through a rigid bracket, and are semi-submerged in the water. The cylindrical structure of the floating buoy floats on the water surface, has a hole in the center, and is connected by a sliding rod installed perpendicular to the water surface on each rigid bracket. The rods slide up and down with the fluctuation of the water body, and the relative displacement of the floating buoy and the semi-submersible buoy is generated by the fluctuation of the water body. The mechanical energy generated by the displacement is used to drive the gyro stabilization unit to rotate and generate rotational inertia through the traction rope, thereby stabilizing the wind turbine power generation system based on the gyro principle.

[0009] The gyro stabilization unit comprises upper and lower cylindrical sealed cabins, a gyro stabilization platform, and a bidirectional reciprocating-adaptive rotational motion coupling mechanism;

[0010] The gyro stabilization unit includes a gyro platform, a spindle gear and a gyro spindle.

[0011] Furthermore, the upper and lower cylindrical sealed cabins include: an upper cylindrical sealed cabin and a lower cylindrical sealed cabin, and the upper cylindrical sealed cabin and the lower cylindrical sealed cabin are relatively sealed and independent; the bidirectional inverter, the electric / generator integrated machine and several sets of bidirectional reciprocating-adaptive rotational motion coupling mechanisms in the energy storage and power generation unit are placed in the upper cylindrical sealed cabin; the battery pack and gyroscopic stabilized platform in the energy storage and power generation unit are placed in the lower cylindrical sealed cabin.

[0012] Furthermore, each set of bidirectional reciprocating-adaptive rotational motion coupling mechanism includes a bidirectional reciprocating-rotational motion coupler and a traction rope; the floating buoy pulls the bidirectional reciprocating-rotational motion coupler through the traction rope, converts the up and down mechanical energy of the floating buoy caused by the fluctuation of sea water into rotational motion kinetic energy, and drives the gyro-stabilized platform to rotate through the bidirectional reciprocating-rotational motion coupler and the main shaft gear in the gyro-stabilized platform; one end of the traction rope is connected to the bottom end of the floating buoy, and the other end is connected to the pendulum through the rigid bracket, the upper cylindrical sealed cabin, and the bidirectional reciprocating-adaptive rotational motion coupling mechanism; the gravity of the pendulum solves the problem of generating synchronous pulling force on the traction rope when the floating buoy moves downward.

[0013] Furthermore, the gyro platform is a cylindrical structure, concentric with the main shaft gear and the gyro main shaft, and is fixedly installed; the upper end of the gyro main shaft is connected to the electric / generator integrated machine, the middle is fixedly connected to the main shaft gear, and is placed in the upper cylindrical sealed cabin; the lower end of the gyro main shaft passes through the upper end sealed upper bearing of the lower cylindrical sealed cabin, passes through the center of the gyro platform and is connected to the bottom of the lower cylindrical sealed cabin through the lower bearing; multiple sets of bidirectional reciprocating-adaptive rotational motion coupling mechanisms are driven by the main shaft gear to drive the gyro main shaft to drive the gyro platform to rotate.

[0014] Furthermore, the battery pack is evenly placed on the gyro platform, and the positive input and output ends of the battery are connected to the positive terminal of the bidirectional inverter through the positive power connection ring of the gyro main shaft; the negative input and output ends of the battery are connected to the negative terminal of the bidirectional inverter through the negative power connection ring of the gyro main shaft; when there is surplus electricity from wind power generation, the battery pack is charged through the positive terminal and negative terminal of the bidirectional inverter, through the positive power connection ring and the negative power connection ring of the gyro main shaft, and through the positive input and output ends of the battery and the negative input and output ends of the battery; and the driving power of the electric motor of the electric / generator integrated machine is increased, thereby improving the rotation speed of the gyro platform.

[0015] Furthermore, when providing instant support and power to the grid, the gyro platform's rotational inertia drives the gyro main shaft to drive the generator of the electric / generator integrated machine to generate electricity quickly, thus supporting the grid.

[0016] When continuous support to the power grid is required, the battery pack supplies power to the power grid through the positive power connection ring and the negative power connection ring of the gyro main shaft via the positive terminal and the negative terminal of the bidirectional inverter.

[0017] Furthermore, the floating wind turbine positioning unit is an electric propeller, which is connected to the bottom of the lower cylindrical sealed cabin buoy through a 360-degree pan-tilt platform. The purpose is to control the 360-degree pan-tilt platform and the electric propeller to correct the geographical location of the floating wind turbine on the water surface through GPS point information, and when the floating wind turbine undergoes abnormal movement, the 360-degree pan-tilt platform and the electric propeller are controlled to generate thrust in the opposite direction of the abnormal movement, thereby effectively suppressing the abnormal movement of the floating wind turbine.

[0018] The present invention also provides a control method for a floating wind power generation, energy storage and gyroscopic stabilization system, comprising the following steps:

[0019] Step 1: When there is surplus wind power, the wind power is used to charge the energy storage battery through a bidirectional inverter and to increase the driving power of the electric motor through the electric motor / generator integrated machine, thereby assisting the bidirectional reciprocating-adaptive rotary motion coupling mechanism to increase the rotation speed of the gyro stabilized platform;

[0020] Step 2: When the grid is instantaneously supported and the rotational speed of the gyro-stabilized platform is greater than the lower speed limit, the gyro-stabilized platform drives the generator of the electric / generator integrated machine to generate electricity, thereby quickly supporting the grid;

[0021] Step 3: When continuous support to the grid is required and the remaining power of the energy storage battery is greater than the lower limit of the remaining power, the energy storage battery supplies power to the grid through the bidirectional inverter;

[0022] Step 4: To ensure the stability of the floating wind turbine system, the controller controls the 360-degree pan-tilt platform and the electric propeller to generate thrust in the opposite direction of the abnormal movement, thereby effectively suppressing the abnormal movement of the floating wind turbine.

[0023] Beneficial effects:

[0024] 1) Improve the structural stability of floating wind power generation systems based on the gyroscope principle;

[0025] 2) Using energy storage batteries as counterweights for the gyro-stabilized platform increases the mass of the gyro-stabilized platform, lowers the center of gravity of the floating wind turbine system, and improves the structural stability of the floating wind turbine. Furthermore, the charging and discharging of the energy storage batteries improves the stability of the power grid.

[0026] 3) Based on the flywheel principle, it can provide rapid support to the power grid at a speed of milliseconds. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The present invention is further described below with reference to the accompanying drawings and specific embodiments.

[0028] Figure 1 This is a structural diagram of the floating wind power generation, energy storage and gyroscopic stabilization system;

[0029] Figure 2 This is a cross-sectional structural diagram of a floating wind turbine buoy unit and a gyroscopic stabilization unit;

[0030] Figure 3 Schematic diagram of the energy storage and power generation unit.

[0031] Among them: gyro main shaft 1, gyro platform 2, lower cylindrical sealed cabin 3, floating pontoon 4, electric / generator integrated machine 5, rigid bracket 6, wind tower 7, bidirectional inverter 8, power positive connecting ring 9, power negative connecting ring 10, positive terminal 11, negative terminal 12, battery pack 13, lower bearing 14, upper bearing 15, battery input and output negative terminal 16, battery input and output positive terminal 17, semi-submersible pontoon 18, sliding rod 19, traction rope 20, hanging hammer 21, main shaft gear 22, bidirectional reciprocating-rotational motion coupler 23, upper cylindrical sealed cabin 24, 360-degree gimbal 25, electric propeller 26, DETAILED DESCRIPTION

[0032] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely for the purpose of explaining the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

[0033] like Figure 1 、 2 As shown, the floating wind power generation, energy storage and gyroscopic stabilization system of the present invention mainly includes: a wind tower 7, a buoy unit, a gyroscopic stabilization unit, an energy storage and power generation unit and a floating wind turbine positioning unit.

[0034] The wind tower 7 is fixedly mounted on the gyro stabilization unit, and the buoy units are evenly distributed with the gyro stabilization unit as the center; the energy storage and power generation unit is mounted in the gyro stabilization unit; and the floating wind turbine positioning unit is mounted at the bottom of the gyro stabilization unit.

[0035] The buoy unit is composed of several semi-submersible buoys 18 and several floating buoys 4. The semi-submersible buoys 18 are cylindrical in structure with a conical bottom. They are evenly distributed around the gyro-stabilized unit and connected to the gyro-stabilized unit via a rigid bracket 6, making them semi-submerged in the water. Their primary purpose is to support the floating wind turbine system on the water. The semi-submersible buoys 18, combined with their conical structure, can reduce the impact of longitudinal waves and remain relatively stationary. The floating buoys 4 are cylindrical in structure and float on the water surface. They have a hole in their center and are connected by a sliding rod 19 mounted perpendicular to the water surface on each rigid bracket 6, allowing them to slide up and down with the fluctuations of the water. The primary purpose is to generate relative displacement between the floating buoys 4 and the semi-submersible buoys 18 through the fluctuations of the water. The mechanical energy generated by this displacement is used to generate a bidirectional reciprocating motion through a traction cable 20, helping to drive the gyro-stabilized unit to rotate and generate rotational inertia, thereby stabilizing the wind turbine power generation system based on the gyroscopic principle. The gyro stabilization unit comprises: upper and lower cylindrical sealed cabins, a gyro stabilization platform, and a bidirectional reciprocating-adaptive rotational motion coupling mechanism;

[0036] The upper and lower cylindrical sealed cabins include: an upper cylindrical sealed cabin 24 and a lower cylindrical sealed cabin 3. The upper cylindrical sealed cabin 24 and the lower cylindrical sealed cabin 3 are relatively sealed and independent. The bidirectional inverter 8, the electric / generator integrated machine 5, and several sets of bidirectional reciprocating-adaptive rotational motion coupling mechanisms in the energy storage and power generation unit are placed in the upper cylindrical sealed cabin 24; the battery pack 13 and the gyro-stabilized platform 2 in the energy storage and power generation unit are placed in the lower cylindrical sealed cabin 3.

[0037] Each set of bidirectional reciprocating and adaptive rotary motion coupling mechanisms includes a bidirectional reciprocating and adaptive rotary motion coupler 23 and a traction cable 20. The floating buoy 4 is towed by the traction cable 20, converting the mechanical energy of the up-and-down motion of the floating buoy 4 due to the fluctuations of the seawater into rotational kinetic energy. The traction cable 20 then drives the gyro-stabilized platform to rotate, aided by the bidirectional reciprocating and adaptive rotary motion coupler 23 and the main shaft gear 22 of the gyro-stabilized platform. One end of the traction cable 20 is connected to the bottom end of the floating buoy 4, while the other end is connected to a pendulum 21 through the rigid support 6, the upper cylindrical sealed chamber 24, and the bidirectional reciprocating and adaptive rotary motion coupling mechanism. The gravity of the pendulum 21 generates a synchronous tension on the traction cable 20 as the floating buoy 4 moves downward.

[0038] The bidirectional reciprocating-adaptive rotary motion coupling mechanism, based on the principle of one-way ratchet transmission, enables the reciprocating motion of the chain to drive the wheel to continuously rotate in one direction. It features reciprocating-rotary motion coupling, stepless speed change, and gear drive. The bidirectional reciprocating-adaptive rotary motion coupling mechanism and the floating pontoons (4) are used in equal numbers.

[0039] The gyro stabilization unit includes a gyro platform 2, a main shaft gear 22, and a gyro main shaft 1. The gyro platform 2 is a cylindrical structure, concentric with the main shaft gear 22 and the gyro main shaft 1, and is fixedly mounted. The upper end of the gyro main shaft 1 is connected to the motor / generator 5, and the middle is fixedly connected to the main shaft gear 22. It is placed in an upper cylindrical sealed cabin 24. The lower end of the gyro main shaft 1 passes through the upper end of the lower cylindrical sealed cabin 3, is sealed with an upper bearing 15, and passes through the center of the gyro platform 2. It is connected to the bottom of the lower cylindrical sealed cabin 3 via a lower bearing 14. Multiple sets of bidirectional reciprocating and adaptive rotational motion coupling mechanisms are transmitted through the main shaft gear 22, driving the gyro main shaft 1 and the gyro platform 2 to rotate.

[0040] In order to improve the stability of the gyro stabilized platform, based on the principle of rotational kinetic energy The energy storage battery 13 is used to provide the mass m of the gyro platform 2 电池 , thereby evenly placing the battery pack 13 on the gyro platform 2, thereby improving the stability of the gyro stabilization unit and lowering the center of gravity of the floating wind power generation system. At the same time, the weight potential energy inertia can offset part of the fluctuation of the longitudinal surge.

[0041] A variable-speed motor / generator 5 is mounted on the upper end of the gyro main shaft 1. The motor in the motor / generator 5 drives the gyro main shaft 1, which in turn rotates the gyro platform 2. This increases the speed and moment of inertia of the gyro stabilization platform, ensuring the stability of the floating wind turbine, energy storage, and gyro stabilization system. Conversely, the kinetic energy of the gyro unit's rotation drives the motor in the motor / generator 5 to rapidly support the power grid.

[0042] like Figure 3As shown, the battery pack 13 is evenly arranged on the gyro platform 2. The battery positive input / output terminal 17 is connected to the positive terminal 11 of the bidirectional inverter 8 via the positive power connection ring 9 of the gyro main shaft 1; the battery negative input / output terminal 16 is connected to the negative terminal 12 of the bidirectional inverter 8 via the negative power connection ring 10 of the gyro main shaft 1. When there is surplus wind power, the battery pack 13 is charged through the positive terminal 11 and negative terminal 12 of the bidirectional inverter 8, through the positive power connection ring 9 and negative power connection ring 10 of the gyro main shaft 1, and through the battery positive input / output terminal 17 and battery negative input / output terminal 16, respectively. This increases the driving power of the motor of the motor / generator 5, thereby increasing the rotation speed of the gyro platform 2.

[0043] When providing instant support power to the grid, the gyro platform 2 uses its rotational inertia to drive the gyro main shaft 1 to drive the generator of the electric / generator integrated machine 5 to generate electricity quickly, supporting the grid. The principle is the same as that of a flywheel.

[0044] When continuous support to the grid is required, the battery pack 13 supplies power to the grid through the positive power connection ring 9 and the negative power connection ring 10 of the gyro main shaft 1 via the positive terminal 11 and the negative terminal 12 of the bidirectional inverter 8 .

[0045] The floating wind turbine positioning unit is an electric propeller 26, which is connected to the bottom of the lower cylindrical sealed cabin buoy 3 through a 360-degree pan-tilt platform 25. The purpose is to control the 360-degree pan-tilt platform 25 and the electric propeller 26 through GPS point information to correct the geographical location of the floating wind turbine on the water surface, and when the floating wind turbine has abnormal movement, the 360-degree pan-tilt platform 25 and the electric propeller 26 are controlled to generate thrust in the opposite direction of the abnormal movement, thereby effectively suppressing the abnormal movement of the floating wind turbine.

[0046] The principle of the present invention is: based on the gyroscope characteristics and the rotational kinetic energy formula The use of energy storage batteries as counterweights improves the quality of the gyro platform, lowers the center of gravity of the floating wind power generation system, and uses surplus power to drive the gyro platform to rotate, ensuring the stability of the floating wind power generation system structure and overcoming the impact of surges on wind power generation fluctuations. Furthermore, the energy storage battery provides surplus power storage and grid support, while also serving as a flywheel energy storage function, that is, the kinetic energy of the gyro unit's rotation drives the engine to quickly support the grid. Where ω is the gyro angular velocity; E 陀螺 is the rotational kinetic energy; m 电池 is the battery mass element; r is the radius of the gyro platform; M 电池 is the battery mass distribution.

[0047] The fluctuation of the water body is used to generate the dynamic and static relative displacement of the floating buoy and the semi-submersible buoy. The mechanical energy generated by the displacement is used to drive the bidirectional reciprocating motion of the traction rope to drive the bidirectional reciprocating-adaptive rotational motion coupling mechanism, which helps drive the gyro stabilization unit to rotate and generate rotational inertia. Based on the gyro principle, the structure of the floating wind power generation system is stabilized.

[0048] To ensure the stability of floating wind power generation, the 360-degree pan-tilt system and electric propeller are controlled to generate thrust in the opposite direction of abnormal movement, effectively suppressing abnormal movement of the floating wind turbine.

[0049] The control method of the present invention comprises the following steps:

[0050] Step 1: When there is surplus electricity from wind power generation, the wind power generation charges the energy storage battery through the bidirectional inverter, and increases the driving power of the electric motor through the electric / generator integrated machine, helping the bidirectional reciprocating-adaptive rotary motion coupling mechanism to increase the rotation speed of the gyro stabilized platform.

[0051] Step 2: When the grid is instantaneously supported and the rotational speed of the gyro-stabilized platform is greater than the lower speed limit, the gyro-stabilized platform drives the generator of the electric / generator integrated machine to generate electricity, thereby rapidly supporting the grid. The principle is the same as that of flywheel energy storage.

[0052] Step 3: When continuous support to the grid is required and the remaining power of the energy storage battery is greater than the lower limit of the remaining power, the energy storage battery supplies power to the grid through the bidirectional inverter.

[0053] Step 4: To ensure the stability of the floating wind turbine system, the controller controls the 360-degree pan-tilt platform and the electric propeller to generate thrust in the opposite direction of the abnormal movement, thereby effectively suppressing the abnormal movement of the floating wind turbine.

[0054] It will be easily understood by those skilled in the art that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A floating wind power generation, energy storage and gyroscopic stabilization system, characterized by: It includes wind tower, buoy unit, gyro stabilization unit, energy storage and power generation unit and floating wind turbine positioning unit; The wind tower is fixedly installed on the gyro stabilization unit, and the buoy units are evenly distributed with the gyro stabilization unit as the center; the energy storage and power generation unit is installed in the gyro stabilization unit, and the floating wind turbine positioning unit is installed at the bottom of the gyro stabilization unit; The buoy unit is composed of a plurality of semi-submersible buoys and a plurality of floating buoys. The semi-submersible buoys are cylindrical structures with a conical bottom structure, are evenly distributed with the gyro stabilization unit as the center, and are connected to the gyro stabilization unit through a rigid bracket, and are semi-submerged in the water. The cylindrical structure of the floating buoy floats on the water surface, has a hole in the center, and is connected by a sliding rod installed perpendicular to the water surface on each rigid bracket. The rods slide up and down with the fluctuation of the water body, and the relative displacement of the floating buoy and the semi-submersible buoy is generated by the fluctuation of the water body. The mechanical energy generated by the displacement is used to drive the gyro stabilization unit to rotate and generate rotational inertia through the traction rope, thereby stabilizing the wind turbine power generation system based on the gyro principle. The gyro stabilization unit comprises upper and lower cylindrical sealed cabins, a gyro stabilization platform, and a bidirectional reciprocating-adaptive rotational motion coupling mechanism; The gyro stabilization unit includes a gyro platform, a spindle gear, and a gyro spindle; The gyro platform is a cylindrical structure, concentric with the main shaft gear and the gyro main shaft, and is fixedly installed; the upper end of the gyro main shaft is connected to the electric / generator integrated machine, the middle is fixedly connected to the main shaft gear, and is placed in the upper cylindrical sealed cabin; the lower end of the gyro main shaft passes through the upper end sealed upper bearing of the lower cylindrical sealed cabin, passes through the center of the gyro platform, and is connected to the bottom of the lower cylindrical sealed cabin through the lower bearing; multiple sets of bidirectional reciprocating-adaptive rotational motion coupling mechanisms are driven by the main shaft gear to drive the gyro main shaft to drive the gyro platform to rotate.

2. A floating wind power generation, energy storage and gyroscopic stabilization system according to claim 1, characterized in that: The upper and lower cylindrical sealed cabins include: an upper cylindrical sealed cabin and a lower cylindrical sealed cabin, and the upper cylindrical sealed cabin and the lower cylindrical sealed cabin are relatively sealed and independent; the bidirectional inverter, electric / generator integrated machine and several sets of bidirectional reciprocating-adaptive rotational motion coupling mechanisms in the energy storage and power generation unit are placed in the upper cylindrical sealed cabin; the battery pack and gyroscopic stabilization platform in the energy storage and power generation unit are placed in the lower cylindrical sealed cabin.

3. The floating wind power generation, energy storage and gyroscopic stabilization system according to claim 1, characterized in that: Each set of bidirectional reciprocating-adaptive rotary motion coupling mechanisms includes a bidirectional reciprocating-rotary motion coupler and a traction rope; the floating buoy tows the bidirectional reciprocating-rotary motion coupler through the traction rope, converting the mechanical energy of the floating buoy's up and down motion caused by the fluctuation of sea water into rotational motion kinetic energy, and driving the gyro-stabilized platform to rotate through the bidirectional reciprocating-rotary motion coupler and the main shaft gear in the gyro-stabilized platform; one end of the traction rope is connected to the bottom end of the floating buoy, and the other end is connected to the pendulum through the rigid bracket, the upper cylindrical sealed cabin, and the bidirectional reciprocating-adaptive rotary motion coupling mechanism; the gravity of the pendulum solves the problem of generating synchronous pulling force on the traction rope when the floating buoy moves downward.

4. The floating wind power generation, energy storage and gyroscopic stabilization system according to claim 2, characterized in that: The battery pack is evenly arranged on the gyro platform, the battery input / output positive end is connected to the positive terminal of the bidirectional inverter through the positive power connection ring of the gyro main shaft; the battery input / output negative end is connected to the negative terminal of the bidirectional inverter through the negative power connection ring of the gyro main shaft; when there is surplus power generated by wind power, the battery pack is charged through the positive terminal and negative terminal of the bidirectional inverter, through the positive power connection ring and the negative power connection ring of the gyro main shaft, and through the positive input / output terminal and the negative input / output terminal of the battery; and the driving power of the motor of the electric / generator integrated machine is increased, thereby improving the rotation speed of the gyro platform.

5. The floating wind power generation, energy storage and gyroscopic stabilization system according to claim 1, characterized in that: When providing instant support and power to the grid, the gyro platform's rotational inertia drives the gyro main shaft to drive the generator of the electric / generator integrated machine to generate electricity quickly to support the grid; When continuous support to the power grid is required, the battery pack supplies power to the power grid through the positive power connection ring and the negative power connection ring of the gyro main shaft via the positive terminal and the negative terminal of the bidirectional inverter.

6. The floating wind power generation, energy storage and gyroscopic stabilization system according to claim 1, characterized in that: The floating wind turbine positioning unit is an electric propeller, which is connected to the bottom of the lower cylindrical sealed cabin buoy through a 360-degree pan-tilt platform. The purpose is to control the 360-degree pan-tilt platform and the electric propeller to correct the geographical location of the floating wind turbine on the water surface through GPS point information, and when the floating wind turbine has abnormal movement, the 360-degree pan-tilt platform and the electric propeller are controlled to generate thrust in the opposite direction of the abnormal movement, thereby effectively suppressing the abnormal movement of the floating wind turbine.

7. A control method for a floating wind power generation, energy storage and gyroscopic stabilization system according to any one of claims 1 to 6, characterized in that: The steps include: Step 1: When there is surplus wind power, the wind power is used to charge the energy storage battery through a bidirectional inverter and to increase the driving power of the electric motor through the electric motor / generator integrated machine, thereby assisting the bidirectional reciprocating-adaptive rotary motion coupling mechanism to increase the rotation speed of the gyro stabilized platform; Step 2: When the grid is instantaneously supported and the rotational speed of the gyro-stabilized platform is greater than the lower speed limit, the gyro-stabilized platform drives the generator of the electric / generator integrated machine to generate electricity, thereby quickly supporting the grid; Step 3: When continuous support to the grid is required and the remaining power of the energy storage battery is greater than the lower limit of the remaining power, the energy storage battery supplies power to the grid through the bidirectional inverter; Step 4: To ensure the stability of the floating wind turbine system, the controller controls the 360-degree pan-tilt platform and the electric propeller to generate thrust in the opposite direction of the abnormal movement, thereby effectively suppressing the abnormal movement of the floating wind turbine.

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